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A Relative Dynamics Formulation for Hardware- in-the-Loop Simulation of On-Orbit Robotic Missions

De Stefano, Marco and Mishra, Hrishik and Giordano, Alessandro Massimo and Lampariello, Roberto and Ott, Christian (2021) A Relative Dynamics Formulation for Hardware- in-the-Loop Simulation of On-Orbit Robotic Missions. IEEE Robotics and Automation Letters, pp. 3569-3576. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2021.3064510. ISSN 2377-3766.

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Official URL: https://ieeexplore.ieee.org/document/9372810


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.

Item URL in elib:https://elib.dlr.de/147152/
Document Type:Article
Title:A Relative Dynamics Formulation for Hardware- in-the-Loop Simulation of On-Orbit Robotic Missions
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
De Stefano, MarcoUNSPECIFIEDhttps://orcid.org/0000-0003-3777-9487UNSPECIFIED
Mishra, HrishikUNSPECIFIEDhttps://orcid.org/0000-0002-5025-2447UNSPECIFIED
Giordano, Alessandro MassimoUNSPECIFIEDhttps://orcid.org/0000-0003-2291-7525UNSPECIFIED
Lampariello, RobertoUNSPECIFIEDhttps://orcid.org/0000-0002-8479-2900UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:April 2021
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 3569-3576
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Hardware-in-the-loop Simulation, space robotics, dynamics and control.
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 - On-Orbit Servicing [RO]
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:10 Dec 2021 00:03
Last Modified:24 May 2022 23:48

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