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

Robotic Simulation of On Orbit Servicing Including Hard Impacts

Lange, Friedrich and Grunwald, Gerhard and Albu-Schäffer, Alin (2016) Robotic Simulation of On Orbit Servicing Including Hard Impacts. In: IEEE International Conference on Intelligent Robots and Systems, pp. 2992-2997. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), 2016-10-09 - 2016-10-14, Daejeon, Korea. doi: 10.1109/iros.2016.7759463.

[img] PDF
322kB

Abstract

Industrial robots are often used for the simulation of satellites during on orbit servicing. In order to cover also the docking phase, both robots are equipped with force-torque sensors, and the measured forces and torques are taken to compute the desired motion of the position controlled robots. Since the system dynamics of robots and of free floating bodies obviously differ, for each robot we distinguish between the really executed and the assumed satellite motion. The difference between the two motions is used to adapt the measured forces in such a way that they correspond to the satellite's trajectory. In this way the docking procedure can be visualized by two robots which closely follow the satellites' trajectories. Stability of the robot control is not compromised even if the dynamics of the satellites and the robots are totally different. Simulation results verify the approach.

Item URL in elib:https://elib.dlr.de/107038/
Document Type:Conference or Workshop Item (Other)
Title:Robotic Simulation of On Orbit Servicing Including Hard Impacts
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Lange, FriedrichUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Grunwald, GerhardUNSPECIFIEDhttps://orcid.org/0000-0002-9306-1616UNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074UNSPECIFIED
Date:2016
Journal or Publication Title:IEEE International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI:10.1109/iros.2016.7759463
Page Range:pp. 2992-2997
Status:Published
Keywords:Robotik, On Orbit Servicing
Event Title:IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)
Event Location:Daejeon, Korea
Event Type:international Conference
Event Start Date:9 October 2016
Event End Date:14 October 2016
Organizer:IEEE/RSJ
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 - Vorhaben Intelligente Mobilität (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Lange, Dr.-Ing. Friedrich
Deposited On:30 Nov 2016 17:42
Last Modified:24 Apr 2024 20:11

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Website and database design: Copyright © German Aerospace Center (DLR). All rights reserved.