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Motion Planning for the On-orbit Grasping of a Non-cooperative Target Satellite with Collision Avoidance
Lampariello, Roberto (2010) Motion Planning for the On-orbit Grasping of a Non-cooperative Target Satellite with Collision Avoidance. In: i-SAIRAS 2010. 10th International symposium on Artificial Intelligence, Robotics and Automation in Space, Sept 2010, Sapporo, Japan.
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Abstract
A method for grasping a tumbling noncooperative target is presented, which is based on nonlinear optimization and collision avoidance. Motion constraints on the robot joints as well as on the end-effector forces are considered. Cost functions of interest address the robustness of the planned solutions during the tracking phase as well as actuation energy. The method is applied in simulation to different operational scenarios.
| Document Type: | Conference or Workshop Item (Paper) | ||||
|---|---|---|---|---|---|
| Title: | Motion Planning for the On-orbit Grasping of a Non-cooperative Target Satellite with Collision Avoidance | ||||
| Authors: |
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| Date: | September 2010 | ||||
| Journal or Publication Title: | i-SAIRAS 2010 | ||||
| Refereed publication: | Yes | ||||
| In Open Access: | Yes | ||||
| In ISI Web of Science: | No | ||||
| Status: | Published | ||||
| Keywords: | Motion planning, free-flying robot, on-orbit grasping | ||||
| Event Title: | 10th International symposium on Artificial Intelligence, Robotics and Automation in Space | ||||
| Event Location: | Sapporo, Japan | ||||
| Event Type: | international Conference | ||||
| Event Dates: | Sept 2010 | ||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||
| HGF - Program: | Space | ||||
| HGF - Program Themes: | W SY - Technik für Raumfahrtsysteme | ||||
| DLR - Research area: | Space | ||||
| DLR - Program: | W SY - Technik für Raumfahrtsysteme | ||||
| DLR - Research theme (Project): | W - Leistungszentrum Robotik - Kognitive Intelligenz und Autonomie (old) | ||||
| Location: | Oberpfaffenhofen | ||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics > Robotic Systems | ||||
| Deposited By: | Roberto Lampariello | ||||
| Deposited On: | 11 Jan 2011 09:54 | ||||
| Last Modified: | 11 Jan 2011 09:54 |
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