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

On Grasping a Tumbling Debris Object with a Free-Flying Robot

Lampariello, Roberto (2013) On Grasping a Tumbling Debris Object with a Free-Flying Robot. In: IFAC Symposium on Automatic Control in Aerospace (ISSN: 0967-0661). 19th IFAC Symposium on Automatic Control in Aerospace, 2-6 Sept 2013, Wurzburg, Germany. ISSN 0967-0661

[img] PDF
1MB

Abstract

The grasping and stabilization of a tumbling, non-cooperative target satellite by means of a free-flying robot is a challenging control problem, which has been addressed in increasing degree of complexity since 20 years. A novel method for computing robot trajectories for grasping a tumbling target is presented. The problem is solved as a motion planning problem with nonlinear optimization. The resulting solution includes a first maneuver of the Servicer satellite which carries the robot arm, taking account of typical satellite control inputs. An analysis of the characteristics of the motion of a grasping point on a tumbling body is used to motivate this grasping method, which is argued to be useful for grasping targets of larger size.

Item URL in elib:https://elib.dlr.de/87425/
Document Type:Conference or Workshop Item (Speech)
Title:On Grasping a Tumbling Debris Object with a Free-Flying Robot
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lampariello, RobertoRoberto.Lampariello (at) dlr.deUNSPECIFIED
Date:September 2013
Journal or Publication Title:IFAC Symposium on Automatic Control in Aerospace (ISSN: 0967-0661)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Editors:
EditorsEmail
Schilling, K.UNSPECIFIED
Schmidt, M.UNSPECIFIED
Leutert, F.UNSPECIFIED
ISSN:0967-0661
Status:Published
Keywords:Trajectory planning, Autonomous control, Space robotics
Event Title:19th IFAC Symposium on Automatic Control in Aerospace
Event Location:Wurzburg, Germany
Event Type:international Conference
Event Dates:2-6 Sept 2013
Organizer:Prof. Klaus Schilling
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 - Vorhaben on Orbit Servicing
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Lampariello, Roberto
Deposited On:10 Jan 2014 11:36
Last Modified:31 Jul 2019 19:44

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.