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Robotic Capture and De-Orbit of a Heavy, Uncooperative and Tumbling Target in Low Earth Orbit

Jaekel, Steffen and Lampariello, Roberto and Panin, Giorgio and Sagardia, Mikel and Brunner, Bernhard and Porges, Oliver and Kraemer, Erich and Wieser, Matthias and Haarmann, Richard and Biesbroek, Robin (2015) Robotic Capture and De-Orbit of a Heavy, Uncooperative and Tumbling Target in Low Earth Orbit. ASTRA 2015 - 13th Symposium on Advanced Space Technologies in Robotics and Automation, 11.-13. Mai 2015, Nordwijk, Niederlande.

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Abstract

This paper presents a robotic capture concept for large spacecraft in low Earth orbit (LEO) that was developed as part of the the e.Deorbit feasibility study within the scope of the clean space initiative of the European Space Agency (ESA). The defective and tumbling satellite ENVISAT has been chosen as potential target to be captured, stabilized, and subsequently de-orbited in a controlled manner. Following a thorough target analysis including potential grasping points, a robotic capture concept was developed that is based on a 7-DoF dexterous robotic manipulator, a linear two-bracket gripper, and a clamping mechanism for achieving stiff fixation between target and chaser satellites prior to the de-tumbling and execution of the de-orbit maneuver. The robotic grasp concept includes a stereo-vision camera system featuring a visual servoing algorithm for camera-in-the-loop error correction. In addition, a platform-mounted camera system is utilized for target model building as well as relative motion and pose estimation. For concept validation, visual servoing, haptic grasp and capture simulations were performed. The task-specific kinematics of the manipulator and potential joint locks as contingency events were validated and analyzed using the method of capability maps. For the complete robotic capture maneuver, an error budget was created and evaluated. Geometric analysis and haptic grasp simulations showed that the gripper design and connected grasp approach is feasible and robust. In addition, the kinematics analysis yielded a sufficient reachability, even in the case of an improbable joint lock. FE-analyses were performed to show that a high compound stiffness can be achieved by the clamping device and that all required forces can be transmitted without damaging the target’s structure. Overall, the study showed that the capture and deorbiting of ENVISAT is feasible and robust using the developed robotic concept.

Item URL in elib:https://elib.dlr.de/117392/
Document Type:Conference or Workshop Item (Speech)
Title:Robotic Capture and De-Orbit of a Heavy, Uncooperative and Tumbling Target in Low Earth Orbit
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Jaekel, Steffensteffen.jaekel (at) dlr.deUNSPECIFIED
Lampariello, RobertoRoberto.Lampariello (at) dlr.deUNSPECIFIED
Panin, Giorgiogiorgio.panin (at) dlr.deUNSPECIFIED
Sagardia, MikelMikel.Sagardia (at) dlr.deUNSPECIFIED
Brunner, BernhardBernhard.Brunner (at) dlr.deUNSPECIFIED
Porges, Oliveroliver.porges (at) dlr.deUNSPECIFIED
Kraemer, Ericherich.kraemer (at) dlr.deUNSPECIFIED
Wieser, Matthiasmatthias.wieser (at) ohb.deUNSPECIFIED
Haarmann, Richardrichard.haarmann (at) ohb.deUNSPECIFIED
Biesbroek, Robinrobin.biesbroek (at) esa.intUNSPECIFIED
Date:May 2015
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:On-Orbit Servicing, ENVISAT
Event Title:ASTRA 2015 - 13th Symposium on Advanced Space Technologies in Robotics and Automation
Event Location:Nordwijk, Niederlande
Event Type:international Conference
Event Dates:11.-13. Mai 2015
Organizer:European Space Agency (ESA)
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) > Autonomy and Teleoperation
Deposited By: Jäkel, Steffen
Deposited On:18 Dec 2017 13:58
Last Modified:18 Dec 2017 13:58

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