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Lampariello, Roberto (2010) Motion Planning for the On-orbit Grasping of a Non-cooperative Target Satellite with Collision Avoidance. In: i-SAIRAS 2010. 10th International symposium on Artificial Intelligence, Robotics and Automation in Space, Sept 2010, Sapporo, Japan.
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Kurzfassung
A method for grasping a tumbling noncooperative target is presented, which is based on nonlinear optimization and collision avoidance. Motion constraints on the robot joints as well as on the end-effector forces are considered. Cost functions of interest address the robustness of the planned solutions during the tracking phase as well as actuation energy. The method is applied in simulation to different operational scenarios.
| Dokumentart: | Konferenzbeitrag (Paper) | ||||||
|---|---|---|---|---|---|---|---|
| Titel: | Motion Planning for the On-orbit Grasping of a Non-cooperative Target Satellite with Collision Avoidance | ||||||
| Autoren: |
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| Datum: | September 2010 | ||||||
| Erschienen in: | i-SAIRAS 2010 | ||||||
| Referierte Publikation: | Ja | ||||||
| In Open Access: | Nein | ||||||
| In SCOPUS: | Nein | ||||||
| In ISI Web of Science: | Nein | ||||||
| Status: | veröffentlicht | ||||||
| Stichwörter: | Motion planning, free-flying robot, on-orbit grasping | ||||||
| Veranstaltungstitel: | 10th International symposium on Artificial Intelligence, Robotics and Automation in Space | ||||||
| Veranstaltungsort: | Sapporo, Japan | ||||||
| Veranstaltungsart: | internationale Konferenz | ||||||
| Veranstaltungsdatum: | Sept 2010 | ||||||
| HGF - Forschungsbereich: | Verkehr und Weltraum (alt) | ||||||
| HGF - Programm: | Weltraum (alt) | ||||||
| HGF - Programmthema: | W SY - Technik für Raumfahrtsysteme | ||||||
| DLR - Schwerpunkt: | Weltraum | ||||||
| DLR - Forschungsgebiet: | W SY - Technik für Raumfahrtsysteme | ||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | W - Leistungszentrum Robotik - Kognitive Intelligenz und Autonomie (alt) | ||||||
| Standort: | Oberpfaffenhofen | ||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (bis 2012) > Robotersysteme | ||||||
| Hinterlegt von: | Lampariello, Roberto | ||||||
| Hinterlegt am: | 11 Jan 2011 09:54 | ||||||
| Letzte Änderung: | 12 Dez 2013 21:11 |
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