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Modelling, Dynamic Analysis and Robotic Control Strategies for the Deorbiting Operations of the ESA Satellite Envisat

Corso, Mario and Lampariello, Roberto and Rackl, Wolfgang and Gasbarri, Paolo (2016) Modelling, Dynamic Analysis and Robotic Control Strategies for the Deorbiting Operations of the ESA Satellite Envisat. Master's. DLR-Interner Bericht. DLR-IB-RM-OP-2016-327, 108 S.

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Abstract

This master thesis was developed in the context of the e.Deorbit project. Firstly, the force for the deorbiting manoeuvre was analysed in order to find a profile that does not induce detachment between the Servicer module and Envisat when a clamping mechanism is not considered. Then, the proposed configurations with a four points clamping connection and a clamping to the payload adapter of Envisat were modelled and analysed. A special focus was posed on the flexibility of the 16 meter long solar panel of Envisat: this was considered divided in rigid sections and flexible joints. Additionally, the detumbling manoeuvre was analysed in order to validate the feasibility of this manoeuvre with the robotic arm grasped to the target. The main part of the work was to analyse a closed loop configuration: the aim was to reduce the oscillation of the solar panel during the deorbiting operations. In order to simulate that configuration, a the Loop Joint method by Featherstone was implemented and included in the SpaceDyn library. After testing the written algorithms, a damping control was simulated.

Item URL in elib:https://elib.dlr.de/109429/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Modelling, Dynamic Analysis and Robotic Control Strategies for the Deorbiting Operations of the ESA Satellite Envisat
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Corso, MarioInstitut für Robotik und MechatronikUNSPECIFIED
Lampariello, RobertoRoberto.Lampariello (at) dlr.deUNSPECIFIED
Rackl, WolfgangWolfgang.Rackl (at) dlr.deUNSPECIFIED
Gasbarri, PaoloUniversität Rom - SapienzaUNSPECIFIED
Date:May 2016
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:108
Status:Published
Keywords:space robotics, deorbiting
Institution:Institut für Robotik und Mechatronik
Department:Analyse und Regelung komplexer Robotersysteme
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 - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Rackl, Wolfgang
Deposited On:20 Dec 2016 10:41
Last Modified:31 Jul 2019 20:06

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