Ground Robotic Platform for Simulation of On-Orbit Servicing Missions

被引:1
|
作者
Chhabra, Anirudh [1 ]
Kim, Donghoon [1 ]
机构
[1] Univ Cincinnati, Dept Aerosp Engn & Engn Mech, Cincinnati, OH 45221 USA
来源
关键词
EQUATIONS;
D O I
10.2514/1.I011008
中图分类号
V [航空、航天];
学科分类号
08 ; 0825 ;
摘要
Autonomous on-orbit servicing missions require high precision because any unwanted contact forces can cause damage to space systems. This makes the on-ground hardware-in-the-loop simulations necessary as operations must be thoroughly evaluated before such missions are carried out in space. A robotic platform is proposed, where a 3-degree-of-freedom (3-DOF) robotic arm is placed atop a 6-DOF Stewart platform. A mathematical model is developed for the resulting 9-DOF redundant manipulator, and the corresponding dynamics are modeled and verified. Simulation studies are conducted using a constrained and singularity-robust pseudo-inverse control scheme, and the system's capability to follow a scaled-down orbital trajectory is tested. The results are presented, and the future implications of this study are discussed.
引用
收藏
页码:480 / 493
页数:14
相关论文
共 50 条
  • [1] The OOS-SIM: An On-ground Simulation Facility For On-Orbit Servicing Robotic Operations
    Artigas, Jordi
    De Stefano, Marco
    Rackl, Wolfgang
    Lampariello, Roberto
    Brunner, Bernhard
    Bertleff, Wieland
    Burger, Robert
    Porges, Oliver
    Giordano, Alessandro
    Borst, Christoph
    Albu-Schaeffer, Alin
    [J]. 2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2015, : 2854 - 2860
  • [2] OPTIMAL INTERSATELLITE TRANSFERS FOR ON-ORBIT SERVICING MISSIONS
    FALLIN, EH
    [J]. JOURNAL OF SPACECRAFT AND ROCKETS, 1975, 12 (09) : 565 - 568
  • [3] Soft Robots for On-Orbit Servicing (OOS) Missions
    Gao, Xiaoqian
    Hyla, Bartosz
    Uhl, Tadeusz
    [J]. MECHATRONICS-INDUSTRY INSPIRED ADVANCES, 2023, 2024, 1042 : 139 - 151
  • [4] The effects of parking orbit elements on designing of on-orbit servicing missions
    Bakhtiari, Majid
    Daneshjou, Kamran
    Mohammadi-Dehabadi, Abbas Ali
    [J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING, 2019, 233 (03) : 793 - 810
  • [5] Autonomous robotic operations for on-orbit satellite servicing
    Ogilvie, Andrew
    Allport, Justin
    Hannah, Michael
    Lymer, John
    [J]. SENSORS AND SYSTEMS FOR SPACE APPLICATIONS II, 2008, 6958
  • [6] A Space Robotic System Used for On-Orbit Servicing in the Geostationary Orbit
    Xu, Wenfu
    Liang, Bin
    Gao, Dai
    Xu, Yangsheng
    [J]. IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 2010, : 4089 - 4094
  • [7] Ground Verification of the Feasibility of Telepresent On-Orbit Servicing
    Stoll, Enrico
    Walter, Ulrich
    Artigas, Jordi
    Preusche, Carsten
    Kremer, Philipp
    Hirzinger, Gerd
    Letschnik, Juergen
    Pongrac, Helena
    [J]. JOURNAL OF FIELD ROBOTICS, 2009, 26 (03) : 287 - 307
  • [8] On-orbit servicing
    Technische Universität München , Germany
    不详
    不详
    不详
    不详
    不详
    不详
    [J]. IEEE Rob Autom Mag, 2009, 4 (29-33):
  • [9] Design and Characterization of an Antenna Pointing Mechanism for On-orbit Servicing Missions
    Purschke, Ralf
    Hoehn, Alexander
    [J]. 2013 IEEE AEROSPACE CONFERENCE, 2013,
  • [10] Teleoperation for On-Orbit Servicing Missions through the ASTRA Geostationary Satellite
    Artigas, Jordi
    Balachandran, Ribin
    De Stefano, Marco
    Panzirsch, Michael
    Lampariello, Roberto
    Albu-Schaeffer, Alin
    Harder, Jan
    Letschnik, Juergen
    [J]. 2016 IEEE AEROSPACE CONFERENCE, 2016,