elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

End-to-End Simulation and Verification of Rendezvous and Docking/Berthing Systems using Robotics

Benninghoff, Heike (2016) End-to-End Simulation and Verification of Rendezvous and Docking/Berthing Systems using Robotics. 5th International Workshop on Verification and Testing of Space Systems, 17.-19. Mai 2016, Turin, Italien.

[img] PDF (Vortrag - End-to-End Simulation and Verification of Rendezvous and Docking/Berthing Systems using Robotics)
2MB

Abstract

The rendezvous and docking/berthing (RvD/B) phase is one of the most complex and critical parts of future on-orbit servicing missions. Especially the operations during the final approach (separation distance < 20m) have to be verified and tested in detail. Such tests involve on-board systems, communication systems and ground systems. In the framework of an end-to-end simulation of the final approach to and capture of a tumbling client satellite, the necessary components are developed and the entire chain will be tested and verified. Concerning the on-board system, this involves the robotic arm for grasping the client, a stereo camera for visual servoing mounted on the robotic arm, the rendezvous sensors (CCD camera and LiDAR), and the on-board navigation and control software. A software satellite simulator is employed which emulates the physical environment of the two spacecraft. Two robotic test facilities, the European Proximity Operations Simulator (EPOS 2.0) at DLR-GSOC and the OOS Grasping Simulator (OOS-Sim) at DLR-RMC are used. The hardware components are mounted on the robots of the two facilities. The robots move according to the resulting relative position and orientation of the two satellites computed by the numerical satellite simulator. The communication infrastructure is simulated, and the ground infrastructure is established including three consoles: a standard satellite bus console, a rendezvous console and a robotic console. Finally, a series of end-to-end tests will be conducted; different approaches will be simulated. The first part, the approach to the final hold point will be performed using the EPOS facility. Then a switch to the OOS-Sim facility will be done, followed by a capture of the target.

Item URL in elib:https://elib.dlr.de/105488/
Document Type:Conference or Workshop Item (Speech)
Title:End-to-End Simulation and Verification of Rendezvous and Docking/Berthing Systems using Robotics
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Benninghoff, HeikeDLRUNSPECIFIED
Date:May 2016
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:rendezvous, docking, berthing, end-to-end, simulation, robotics, navigation, control center
Event Title:5th International Workshop on Verification and Testing of Space Systems
Event Location:Turin, Italien
Event Type:international Conference
Event Dates:17.-19. Mai 2016
Organizer:Politecnico di Torino, Thales Alenia Space
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Projekt OOS-E2E
Location: Oberpfaffenhofen
Institutes and Institutions:Space Operations and Astronaut Training
Deposited By: Benninghoff, Heike
Deposited On:01 Aug 2016 17:34
Last Modified:31 Jul 2019 20:02

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.