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Experimental setup and tests’ results for uncooperative objects capture and manoeuvring with robotic arm

Benvenuto, Riccardo and Lavagna, Michèle and Schlotterer, Markus and Theil, Stephan (2017) Experimental setup and tests’ results for uncooperative objects capture and manoeuvring with robotic arm. 7th European Conference on Space Debris, 18 - 21 April 2017, Darmstadt, Germany.

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Abstract

Active Debris Removal (ADR) and On-Orbit Servicing (OOS) are current research and development topics which are dealing with - either fully or partially - uncooperative orbiting objects to be approached and captured autonomously. For both scenarios, a viable solution is a robotic arm aboard the chaser which is in charge of the mechanical connection between the two objects. At the Department of Aerospace Science and Technologies of Politecnico di Milano, a validated software tool was developed to describe the multi-body dynamics involved in ADR/OOS scenarios and to enable fast analysis and guidance and control law design and testing. The tool was exploited to set up a robotic arm add-on on the Test Environment for Applications of Multiples Spacecraft (TEAMS) at the GNC Systems Department of the Institute of Space Systems of DLR in Bremen. Both numerical and experimental results are presented and discussed in the paper, to highlight drivers and requirements for arm-based mechanism design within the ADR\OOS scenarios, driven by GNC performance.

Item URL in elib:https://elib.dlr.de/111883/
Document Type:Conference or Workshop Item (Lecture)
Title:Experimental setup and tests’ results for uncooperative objects capture and manoeuvring with robotic arm
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Benvenuto, RiccardoPolitecnico di Milanohttps://orcid.org/0000-0001-7362-4779
Lavagna, MichèlePolitecnico di Milanohttps://orcid.org/0000-0003-4361-1437
Schlotterer, MarkusMarkus.Schlotterer (at) dlr.dehttps://orcid.org/0000-0002-6565-3622
Theil, Stephanstephan.theil (at) dlr.dehttps://orcid.org/0000-0002-5346-8091
Date:April 2017
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:guidance, navigation, control, rendezvous, capture, robotic arm, air cushion vehicle
Event Title:7th European Conference on Space Debris
Event Location:Darmstadt, Germany
Event Type:international Conference
Event Dates:18 - 21 April 2017
Organizer:ESA/ESOC
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 - Lageregelungstechnik / Formationsflug (old)
Location: Bremen
Institutes and Institutions:Institute of Space Systems > Navigation and Control Systems
Deposited By: Theil, Dr.-Ing. Stephan
Deposited On:11 Apr 2017 11:07
Last Modified:30 May 2017 12:35

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