De Stefano, Marco und Mishra, Hrishik und Giordano, Alessandro Massimo und Lampariello, Roberto und Ott, Christian (2021) A Relative Dynamics Formulation for Hardware- in-the-Loop Simulation of On-Orbit Robotic Missions. IEEE Robotics and Automation Letters, Seiten 3569-3576. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2021.3064510. ISSN 2377-3766.
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Offizielle URL: https://ieeexplore.ieee.org/document/9372810
Kurzfassung
In this letter, we propose a novel method for the on-ground simulation of a space robotic mission, while exploiting a robotic hardware-in-the-loop facility. The simulated dynamics replicated by the robots are defined with respect to a nominal motion. This approach enables simulating the motion of large satellites. In particular, we exploit a Lagrangian matching relative to the nominal motion for a satellite (client) and a manipulator-equipped spacecraft (servicer), which are modeled as a rigid body and a multi-body system, respectively. Stability of the proposed method is also analyzed. The effectiveness of the method is demonstrated through experiments on the OOS-Sim facility for the capture of Envisat, a free-tumbling satellite and the largest space debris in Low-Earth-Orbit.
elib-URL des Eintrags: | https://elib.dlr.de/147152/ | ||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||
Titel: | A Relative Dynamics Formulation for Hardware- in-the-Loop Simulation of On-Orbit Robotic Missions | ||||||||||||
Autoren: |
*DLR corresponding author | ||||||||||||
Datum: | April 2021 | ||||||||||||
Erschienen in: | IEEE Robotics and Automation Letters | ||||||||||||
Open Access: | Ja | ||||||||||||
In SCOPUS: | Ja | ||||||||||||
In ISI Web of Science: | Ja | ||||||||||||
DOI: | 10.1109/LRA.2021.3064510 | ||||||||||||
Seitenbereich: | Seiten 3569-3576 | ||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||
ISSN: | 2377-3766 | ||||||||||||
Stichwörter: | Hardware-in-the-loop Simulation, space robotics, dynamics and control. | ||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme |
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