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Hybrid Planning to Minimize Platform Disturbances during In-orbit Assembly Tasks

Rodriguez Brena, Ismael Valentin and Lutze, Jean-Pascal and Hrishik, Mishra and Lehner, Peter and 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.

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Official URL: https://ieeexplore.ieee.org/document/9843530


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.

Item URL in elib:https://elib.dlr.de/191973/
Document Type:Conference or Workshop Item (Speech)
Title:Hybrid Planning to Minimize Platform Disturbances during In-orbit Assembly Tasks
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Rodriguez Brena, Ismael ValentinUNSPECIFIEDhttps://orcid.org/0000-0002-2310-9186UNSPECIFIED
Hrishik, MishraUNSPECIFIEDhttps://orcid.org/0000-0002-5025-2447UNSPECIFIED
Lehner, PeterUNSPECIFIEDhttps://orcid.org/0000-0002-3755-1186UNSPECIFIED
Roa Garzon, Máximo AlejandroUNSPECIFIEDhttps://orcid.org/0000-0003-1708-4223UNSPECIFIED
Date:August 2022
Journal or Publication Title:2022 IEEE Aerospace Conference, AERO 2022
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Keywords:Space vehicles, Satellites, Attitude control, Perturbation methods, Telescopes, Manipulators, Orbits
Event Title:2022 IEEE Aerospace Conference
Event Location:Montana, USA
Event Type:international Conference
Event Start Date:5 March 2022
Event End Date:12 March 2022
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 - Intelligent Mobility (RM) [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Rodriguez Brena, Ismael Valentin
Deposited On:15 Dec 2022 17:40
Last Modified:28 May 2024 10:24

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