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FORROST: Advances in On-Orbit Robotic Technologies

Lampariello, Roberto and Oumer, Nassir W. and Artigas, Jordi and Rackl, Wolfang and Panin, Giorgio and Purschke, Ralf and Harder, Jan and Walter, Ulrich and Frickel, Jürgen and Masic, Ismar and Ravandoor, Karhik and Scharnagl, Julian and Schilling, Klaus and Landzettel, K. and Hirzinger, G. (2015) FORROST: Advances in On-Orbit Robotic Technologies. IEEE Aerospace Conference 2015, 2015-03, Big Sky, Montana. doi: 10.1109/AERO.2015.7118944.

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Abstract

Orbital robotics is receiving growing attention worldwide for applications in servicing and repositioning of partially or fully defective satellites. In this paper, we present the scope and main results of a four-year research project, which aimed at developing necessary robotic technologies for such applications. The scope is two-fold, since we address both the human-operated robotic operational mode, referred to in robotics as forcefeedback teleoperation, as well as the alternative autonomous mode, for the specific task of approaching and grasping a freetumbling target satellite. We present methodological developments and experimental as well as numerical validations in the fields of tele-communications, computer vision, robot and spacecraft control and system identification. The results of this work constitute important advances in the fundamental building blocks necessary for the orbital applications of interest.

Item URL in elib:https://elib.dlr.de/101249/
Document Type:Conference or Workshop Item (Speech)
Title:FORROST: Advances in On-Orbit Robotic Technologies
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Lampariello, RobertoUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Oumer, Nassir W.UNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Artigas, JordiUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Rackl, WolfangUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Panin, GiorgioUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Purschke, RalfTechnical University MunichUNSPECIFIEDUNSPECIFIED
Harder, JanTechnical University MunichUNSPECIFIEDUNSPECIFIED
Walter, UlrichTechnical University MunichUNSPECIFIEDUNSPECIFIED
Frickel, JürgenUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Masic, IsmarUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Ravandoor, KarhikUniversity of WurzburgUNSPECIFIEDUNSPECIFIED
Scharnagl, JulianUniversity of WurzburgUNSPECIFIEDUNSPECIFIED
Schilling, KlausUniversity of WurzburgUNSPECIFIEDUNSPECIFIED
Landzettel, K.UNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Hirzinger, G.UNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Date:March 2015
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
DOI:10.1109/AERO.2015.7118944
Status:Published
Keywords:Space robotics, active debris removal
Event Title:IEEE Aerospace Conference 2015
Event Location:Big Sky, Montana
Event Type:international Conference
Event Date:March 2015
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Lampariello, Roberto
Deposited On:17 Dec 2015 13:34
Last Modified:24 Apr 2024 20:06

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