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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 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 11:40 | |||||||||
| Last Modified: | 31 Jul 2019 19:44 |
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