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A Ground Experiment to Simulate a Free-floating Robot Capturing a Spacecraft

Jankovic, Marko (2012) A Ground Experiment to Simulate a Free-floating Robot Capturing a Spacecraft. Master's. DLR-Interner Bericht. DLR-IB 572/18, 158 S.

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Abstract

The dynamic coupling between the manipulator and its base, considered to be free-floating in the microgravity environment, could lead to a different position of its end-effector compared to that of a structurally similar fixed-based robot, for the same joint input command. Therefore, to ensure the successful completion of a challenging in-orbit task, such as the capture maneuver of a target spacecraft, the verification on ground of the planning and control algorithms of the robotic system proves to be necessary. In this respect, the following thesis presents the ground simulation facility developed at the DLR Institute of Robotics and Mechatronics able to simulate the motion of a robot in space relative to a tumbling target spacecraft. The system was particularly designed having in mind the requirements of the Deutsche Orbitale Servicing Mission (DEOS). The laboratory setup is based on a hybrid method which combines the virtual model of the free-floating system with the real hardware, composed of two Light-Weight Robots (LWRs) fixed to a rigid platform. This way, the dynamical behavior of the whole system is simulated using appropriate dynamic models, while the physical motions of the space manipulator and client satellite are accomplished by two LWRs. The emulation of the free-floating base is performed through the motion of the target spacecraft based on its relative position with respect to the servicer satellite. This way, the developed laboratory simulator provides, on ground, an environment similar to what an astronaut or a remote operator would observe form the servicer spacecraft during the capture maneuver. Moreover, the system proves to be extendible by small hardware and software modifications and to be relatively simple and cheap in contrast to laboratory setups currently being developed around the world for the same task.

Item URL in elib:https://elib.dlr.de/79952/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:A Ground Experiment to Simulate a Free-floating Robot Capturing a Spacecraft
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Jankovic, MarkoUNSPECIFIEDUNSPECIFIED
Date:20 July 2012
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:158
Status:Published
Keywords:Ground Experiment, Free-Floating, Robot, Spacecraft, Capture
Institution:University of Rome
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - RMC - Kognitive Intelligenz und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Laskey, Jessica
Deposited On:19 Dec 2012 10:41
Last Modified:13 Jul 2016 17:28

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