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Modeling, Simulation and Control of a Robotic Arm for Planetary Exploration

Heinrich, Lukas (2021) Modeling, Simulation and Control of a Robotic Arm for Planetary Exploration. Master's, Universität Bremen.

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Abstract

The next milestone in Mars exploration will be a sample return to use state-of-the-art laboratories on Earth to analyze the Mars soil in-depth. With the NASA-ESA Mars Sample Return campaign, this subsequent chapter in Mars exploration is addressed. One part ESA is contributing to this campaign is its Sample Fetch Rover, whose task will be to collect different soil samples, already prepared and stored in small tubes at various areas inside the Jezero Crater by the Perseverance rover, and carry them to NASA’s Mars Ascent Vehicle to be launched into Mars orbit and then transported back to Earth. This study aimed for the development of a model for the control of ESA’s Sample Fetch Rover robotic arm to simulate its kinematic and dynamic behavior using the KUKA KR 10 R1100-2 robot manipulator predetermined by the company on whose cooperation this master thesis was based. Therefore, first, a literature review in space robotics had been conducted. Followed by an in-depth analysis of various control strategies resulting in an inverse dynamics control selected as a suitable control strategy for this study. Additionally, through an analysis of different available modeling software the Spacecraft Robotics Toolkit was selected and used to create the robot model with certain simplifications in its geometry and mass distribution. Furthermore, the Robotics System Toolbox was used to generate two example trajectories simulating the manipulator picking up a Mars sample tube and storing it into the rover’s backpack. The next step was the realization of the Simulink model, based on the previously selected inverse dynamics control strategy. Therefore, a control loop with various subsystems considering the input trajectories and the manipulator’s forward and inverse kinematics and dynamics, was developed and tuned to accurately simulate the manipulator’s motion. To analyze the accuracy of the Simulink model, each simulated position orientation, and linear and angular velocity parameter of the end-effector was plotted against their respective desired input parameter. An error analysis led to a maximum position error of 5.35 mm with a motion stabilization after approximately four seconds and a maximum orientation deviation of 3.9°. Finally, various recommendations were presented to enhance the current model for a more realistic simulation of the manipulator’s behavior.

Item URL in elib:https://elib.dlr.de/145055/
Document Type:Thesis (Master's)
Additional Information:Non-Disclosure Notice This master thesis is based on internal, confidential data and information of the enterprise OHB System AG. This work may only be available to the first and second reviewers and authorized members of the board of examiners. Any publication and duplication of this thesis - even partly - is prohibited. Any inspection of this work by third parties requires the expressed admission of the author and the company. Sperrvermerk Die vorliegende Masterarbeit basiert auf internen, vertraulichen Daten und Informationen des Unternehmens OHB System AG. Diese Arbeit darf daher nur dem Erst- und Zweitprüfer sowie den befugten Mitgliedern der Prüfungsorgane der Universität Bremen zugänglich gemacht werden. Eine Veröffentlichung und Vervielfältigung der Arbeit ist - auch in Auszügen - nicht gestattet. Eine Einsichtnahme der Arbeit durch Unbefugte bedarf einer ausdrücklichen Genehmigung durch den Verfasser und das Unternehmen.
Title:Modeling, Simulation and Control of a Robotic Arm for Planetary Exploration
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Heinrich, LukasUniversität BremenUNSPECIFIED
Date:25 August 2021
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:114
Status:Published
Keywords:Control Theory, Simulation, Planetary Exploration
Institution:Universität Bremen
Department:MSc Space Engineering
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Planetary Exploration
Location: Bremen
Institutes and Institutions:Institute of Space Systems
Deposited By: Scharringhausen, Marco
Deposited On:03 Nov 2021 09:24
Last Modified:03 Nov 2021 09:24

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