Rodriguez Brena, Ismael Valentin und Lutze, Jean-Pascal und Hrishik, Mishra und Lehner, Peter und Roa Garzon, Máximo Alejandro (2022) Hybrid Planning to Minimize Platform Disturbances during In-orbit Assembly Tasks. In: 2022 IEEE Aerospace Conference, AERO 2022. IEEE. 2022 IEEE Aerospace Conference, 2022-03-05 - 2022-03-12, Montana, USA. doi: 10.1109/AERO53065.2022.9843530. ISBN 978-166543760-8. ISSN 1095-323X.
PDF
5MB |
Offizielle URL: https://ieeexplore.ieee.org/document/9843530
Kurzfassung
In-orbit space assembly has been proposed as a method to overcome the obstacles for deployment of large spatial structures. To make such assemblies economically feasible, they must rely on robotic arms to perform the required manipulation actions. The operations with the robotic arm inevitably affect the attitude and orientation of the spacecraft. This influence is well understood for simple trajectories; however, assembly sequences for full structures require multiple repetitive motions, with and without load, which significantly affect the attitude and orbital control of the satellite. This paper analyzes such perturbations for a complex assembly task, the construction of the primary mirror for a space telescope, using a hybrid planner with two levels: a low level that considers individual motions of the robotic arm, and a high level that generates the overall assembly sequence while minimizing the perturbations created on the attitude control system. The method effectively minimizes perturbations during orbital assembly tasks, therefore minimizing fuel or energy consumption in the spacecraft.
elib-URL des Eintrags: | https://elib.dlr.de/191973/ | ||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||||||
Titel: | Hybrid Planning to Minimize Platform Disturbances during In-orbit Assembly Tasks | ||||||||||||||||||||||||
Autoren: |
| ||||||||||||||||||||||||
Datum: | August 2022 | ||||||||||||||||||||||||
Erschienen in: | 2022 IEEE Aerospace Conference, AERO 2022 | ||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||
DOI: | 10.1109/AERO53065.2022.9843530 | ||||||||||||||||||||||||
Verlag: | IEEE | ||||||||||||||||||||||||
ISSN: | 1095-323X | ||||||||||||||||||||||||
ISBN: | 978-166543760-8 | ||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||
Stichwörter: | Space vehicles, Satellites, Attitude control, Perturbation methods, Telescopes, Manipulators, Orbits | ||||||||||||||||||||||||
Veranstaltungstitel: | 2022 IEEE Aerospace Conference | ||||||||||||||||||||||||
Veranstaltungsort: | Montana, USA | ||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||
Veranstaltungsbeginn: | 5 März 2022 | ||||||||||||||||||||||||
Veranstaltungsende: | 12 März 2022 | ||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Intelligente Mobilität (RM) [RO] | ||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Autonomie und Fernprogrammierung Institut für Robotik und Mechatronik (ab 2013) > Kognitive Robotik Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||||||
Hinterlegt von: | Rodriguez Brena, Ismael Valentin | ||||||||||||||||||||||||
Hinterlegt am: | 15 Dez 2022 17:40 | ||||||||||||||||||||||||
Letzte Änderung: | 28 Mai 2024 10:24 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags