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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:
AuthorsInstitution or Email of Authors
Lampariello, Robertoroberto.lampariello@dlr.de
Date:September 2010
Journal or Publication Title:i-SAIRAS 2010
Refereed publication: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 (old)
HGF - Program:Space (old)
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:12 Dec 2013 21:11

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