Lampariello, Roberto and Hirzinger, Gerd (2013) Generating Feasible Trajectories for Autonomous On-Orbit Grasping of Spinning Debris in a Useful Time. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (ISSN: 1042-296X). IEEE/RSJ International Conference on Intelligent Robots and Systems 2013 (IROS 13), 3-8 Nov 2013, Tokyo, Japan. ISSN 1042-296X.
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Abstract
The grasping and stabilization of a spinning, noncooperative target satellite by means of a free-flying robot is addressed. A method for computing feasible robot trajectories for grasping a target with known geometry in a useful time is presented, based on nonlinear optimization and a look-up table. An off-line computation provides a data base for a mapping between a four-dimensional input space, to characterize the target motion, and an N-dimensional output space, representing the family of time-parameterized optimal robot trajectories. Simulation results show the effectiveness of the data base for computing grasping maneuvers in a useful time, for a sample range of spinning motions. The debris object consists of a satellite with solar appendages in Low Earth Orbit, which presents collision avoidance and timing challenges for executing the task.
Item URL in elib: | https://elib.dlr.de/87427/ | |||||||||
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Document Type: | Conference or Workshop Item (Speech) | |||||||||
Title: | Generating Feasible Trajectories for Autonomous On-Orbit Grasping of Spinning Debris in a Useful Time | |||||||||
Authors: |
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Date: | November 2013 | |||||||||
Journal or Publication Title: | IEEE/RSJ International Conference on Intelligent Robots and Systems (ISSN: 1042-296X) | |||||||||
Refereed publication: | Yes | |||||||||
Open Access: | Yes | |||||||||
Gold Open Access: | No | |||||||||
In SCOPUS: | No | |||||||||
In ISI Web of Science: | Yes | |||||||||
ISSN: | 1042-296X | |||||||||
Status: | Published | |||||||||
Keywords: | Space Robotics, Trajectory Planning, Grasping of Tumbling Target | |||||||||
Event Title: | IEEE/RSJ International Conference on Intelligent Robots and Systems 2013 (IROS 13) | |||||||||
Event Location: | Tokyo, Japan | |||||||||
Event Type: | international Conference | |||||||||
Event Dates: | 3-8 Nov 2013 | |||||||||
Organizer: | IROS2013 Organizing Committee | |||||||||
HGF - Research field: | Aeronautics, Space and Transport | |||||||||
HGF - Program: | Space | |||||||||
HGF - Program Themes: | Space System Technology | |||||||||
DLR - Research area: | Raumfahrt | |||||||||
DLR - Program: | R SY - Space System Technology | |||||||||
DLR - Research theme (Project): | R - On-Orbit Servicing [SY] | |||||||||
Location: | Oberpfaffenhofen | |||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation | |||||||||
Deposited By: | Lampariello, Roberto | |||||||||
Deposited On: | 10 Jan 2014 11:40 | |||||||||
Last Modified: | 31 Jul 2019 19:44 |
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