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Coupled Control of Chaser Platform and Robot Arm for the e.Deorbit Mission

Telaar, Juergen and Estable, Stephane and De Stefano, Marco and Rackl, Wolfgang and Lampariello, Roberto and Ankersen, Finn and Gil-Fernandez, Jesus (2017) Coupled Control of Chaser Platform and Robot Arm for the e.Deorbit Mission. GNC 2017: 10th International ESA Conference on Guidance, Natigation & Control Systems, Salzburg, Austria.

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The e.Deorbit mission is devoted to safely remove Envisat from its orbit by robotic capture means. The major challenges in the close range are the motion synchronisation between the Chaser and the Target satellite Envisat and the coupled control during capture employing the robot arm. This paper is devoted to the coupled control phase, during which the Chaser performs station keeping at the Capture Point, which is a point relative to the Target in the Target body frame, while the robot is grasping the Target. The robot arm has to place the end-effector at the Grasping Point, a well-defined position at the Target's launch adapter ring, while compensating the station keeping errors of the Chaser platform. The impedance controlled robot operates in operational space coordinates defining the pose of the robot end-effector with respect to the Grasping Point and also directly controls the robot joint configuration. The bandwidths of the two controllers considered in this study differ by more than two orders of magnitude, allowing independent control design of the two. The overall performance of the coupled control in terms of station keeping performance for the Chaser and positioning performance of the end-effector is demonstrated in Monte Carlo simulations.

Item URL in elib:https://elib.dlr.de/113204/
Document Type:Conference or Workshop Item (Speech)
Title:Coupled Control of Chaser Platform and Robot Arm for the e.Deorbit Mission
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Telaar, JuergenJuergen.telaar (at) airbus.comUNSPECIFIED
Estable, StephaneStephane.Estable (at) airbus.comUNSPECIFIED
De Stefano, Marcomarco.destefano (at) dlr.deUNSPECIFIED
Rackl, Wolfgangwolfgang.rackl (at) dlr.deUNSPECIFIED
Lampariello, Robertoroberto.lampariello (at) dlr.deUNSPECIFIED
Ankersen, Finnfinn.ankersen (at) esa.intUNSPECIFIED
Date:29 May 2017
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:Coupled control; e.Deorbit; robot; GNC; OOS;
Event Title:GNC 2017: 10th International ESA Conference on Guidance, Natigation & Control Systems
Event Location:Salzburg, Austria
Event Type:international Conference
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 on Orbit Servicing
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: De Stefano, Marco
Deposited On:18 Jul 2017 10:39
Last Modified:18 Jul 2017 10:39

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