elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Motion analysis of a free-tumbling satellite and experimentation of the grasping task with two fixed-base LWR robots

De Stefano, Marco (2012) Motion analysis of a free-tumbling satellite and experimentation of the grasping task with two fixed-base LWR robots. Master's. DLR-Interner Bericht. DLR-IB 572-2012/05, 191 S.

[img] PDF - Registered users only
4MB

Abstract

On-orbit servicing missions are a new class of space missions where a servicer is launched in the orbit of another spacecraft, the client. The servicer navigates to the client with the intention of manipulating it using a robotic arm. The function is to repair, refuelling, de-orbiting or grasping the client that could be a satellite or a space debris left in orbit by previous missions and growing in recent years. Both approach and docking of the two spacecrafts in orbit lead to various challenges in the area of space flight dynamics. This work intends to analyze some phases of the German on-orbit servicing mission DEOS, like the motion of the free client satellite, where particular motions are shown, and its grasping by a servicer in an experimental way using two Light Weight Robot provided by DLR. Moreover the effects of the energy dissipation are presented among which environmental torques and sloshing that could bring the satellite in a flat-spin motion. Controls of approach, grasping and stabilization are developed on the chaser robot arm to approach a moving satellite whose dynamics are implemented on the second LWR that can be manipulated using the force sensors integrated on the robot.

Item URL in elib:https://elib.dlr.de/80658/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Motion analysis of a free-tumbling satellite and experimentation of the grasping task with two fixed-base LWR robots
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
De Stefano, MarcoUNSPECIFIEDUNSPECIFIED
Date:12 May 2012
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:191
Status:Published
Keywords:Motion, analysis, free, tumbling, satellite, grasping, LWR,
Institution:University Rome
Department:School of Aerospace Engineering
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 - Mobilität und Exploration (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Laskey, Jessica
Deposited On:15 Jan 2013 15:56
Last Modified:13 Jul 2016 17:28

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.