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Dr. Friedrich Lange ‒ OOS

On Orbit Servicing

Assembly and servicing of satellites in an orbit - or their removal from the orbit - will be features of future space missions. In order to avoid a failure it is advantageous to verify the docking maneuver between the satellites before the mission starts, i.e., on ground. Industrial robots are well suited for visualization and simulation of the resulting motion of the satellites. Typically, the robots are equipped with force-torque sensors, and the measured forces and torques are taken to compute the desired motion of the position controlled robots. Details of our approach can be taken from the following publications:

 

Related publications:

  • IROS2016  Friedrich Lange, Gerhard Grunwald, and Alin Albu-Schäffer: Robotic Simulation of On Orbit Servicing Including Hard Impacts. In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Daejon, Korea, October 2016
    Paper

    Abstract
    Industrial robots are often used for the simulation of satellites during on orbit servicing. In order to cover also the docking phase, both robots are equipped with force-torque sensors, and the measured forces and torques are taken to compute the desired motion of the position controlled robots. Since the system dynamics of robots and of free floating bodies obviously differ, for each robot we distinguish between the really executed and the assumed satellite motion. The difference between the two motions is used to adapt the measured forces in such a way that they correspond to the satellite’s trajectory. In this way the docking procedure can be visualized by two robots which closely follow the satellites’ trajectories. Stability of the robot control is not compromised even if the dynamics of the satellites and the robots are totally different. Simulation results verify the approach.

 

Related video clips:

  • Collision of a satellite with a heavy object (wall).


     
  • Collision between two satellites of equal mass.


     
  • Failed docking maneuver between a servicer satellite and a client satellite.

 

See also:

  • J. Artigas, M. De Stefano, W. Rackl, R. Lampariello, B. Brunner, W. Bertleff, R. Burger, O. Porges, A. Giordano, C. Borst, and A. Albu-Schäffer. The OOS-SIM: An on-ground simulation facility for on-orbit servicing robotic operations. In Proc. 2015 IEEE Int. Conf. on Robotics and Automation (ICRA), pages 2854-2860, Seattle, WA, USA, May 2015.
  • M. De Stefano, J. Artigas, W. Rackl, and A. Albu-Schäffer. Passivity of virtual free-floating dynamics rendered on robotic facilities. In Proc.2015 IEEE Int. Conf. on Robotics and Automation (ICRA), pages 781–788, Seattle, WA, USA, May 2015.
  • M. De Stefano, J. Artigas, and C. Secchi: An optimized passivity-based method for simulating satellite dynamics on a position controlled robot in presence of latencies. In Proc.2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pages 5419-5426, Daejeon, Korea, Oct. 2016.

Zuletzt aktualisiert: Donnerstag, 03. November 2016 von Dr. Friedrich Lange