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Generating Feasible Trajectories for Autonomous On-Orbit Grasping of Spinning Debris in a Useful Time

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/
Document Type:Conference or Workshop Item (Speech)
Title:Generating Feasible Trajectories for Autonomous On-Orbit Grasping of Spinning Debris in a Useful Time
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lampariello, RobertoRoberto.Lampariello (at) dlr.deUNSPECIFIED
Hirzinger, GerdGerd.Hirzinger (at) dlr.deUNSPECIFIED
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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