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Wolfgang Rackl

DLR German Aerospace Center
Institute of Robotics and Mechatronics
Analysis and Control of Advanced Robotic Systems
Muenchener Str. 20
82234 Wessling

telephone: +49 8153 28-1656
email: Wolfgang Rackl

Wolfgang Rackl studied Mechanical Engineering at the Technische Hochschule Ingolstadt and at the Royal Melbourne Institute of Technology (RMIT), Australia, and recieved a Bachelor's degree (Dipl.-Ing. (FH)) in 2005 and a Master’s degree in Aerospace Engineering from the Technical University Munich (TUM) in 2009. He conducted his Master Thesis research in detumbling stategies for On-Orbit Servicing missions. Since 2009 he is a research scientist at the Institute of Robotics and Mechatronics at German Aerospace Center (DLR) in the field of space robotics. His responsibilities as a research associate at the institute include dynamics modelling and parameter identification and he is part of the team developing the On-Orbit Servicing experimental verification platform OOS-SIM at the institute.


Fields of Interests

  • On-Orbit Robotics
  • Multibody Dynamics
  • Robot Motion Planning
  • Dynamic Parameter Identification for Fixed-Base and Free-Floating Robots
  • Liquid Sloshing Dynamics




  • COMRADE: European Space Agency (ESA) project. COntrol and Management of Robotics Active DEbris removal.
  • eDeorbit: e.Deorbit is a planned European Space Agency active space debris removal mission developed as a part of their Clean Space initiative. This mission will be the first active debris removal mission.
  • FORROST:  Robotische On-Orbit-Servicing Technologien - development of robotic on-orbit technologies.
  • DEOS: On-Orbit-Servicing Mission: Development of the tools for the capture, stabilization and de-orbiting of a non co-operative target by means of a free-flying robot. [ DEOS site
  • OOS-SIM: Simulation facility for On-Orbit Servicing (OOS) missions .[ VIDEO ]


DEOS-SIM facility at DLR-RM 

DLR (CC-BY 3.0)





Journal Papers:


[J1]  J. Telaar, I. Ahrns, S. Estable, W. Rackl, M. De Stefano, R. Lampariello, N. Santos, P. Serra, M. Canetri, F. Ankersen, J. Gil-Fernandez  "GNC architecture for the e.Deorbit mission ", Acta Astronautica, 2018, under review.


Conference Papers:


[C11]  Wolfgang Rackl, Jens Gerstmann, Roberto Lampariello, “Analysis of liquid fuel sloshing on free-floating robot dynamics under low-gravity condition”, IEEE Aerospace Conference, Big Sky, Montana, USA, March 2018, under review..


[C10]  J. Telaar, I. Ahrns, S. Estable, W. Rackl, M. De Stefano, R. Lampariello, N. Santos, P. Serra, M. Canetri, F. Ankersen, J. Gil-Fernandez  "GNC architecture for the e.Deorbit mission", accepted to  7th European Conference for Aeronautics and Space Science (EUCASS), Milan, Italy,  July 2017.


[C9]  Juergen Telaar, Stephane Estable, Marco De Stefano, Wolfgang Rackl, Roberto Lampariello, Finn Ankersen, Jesus Gil Fernandez  "Coupled control of chaser platform and robot arm for the e.deorbit mission", GNC 2017: 10th International ESA conference on Guidance, Navigation & Control Systems, Salzburg, Austria, May 2017.


[C8]  S. Jaekel, R. Lampariello, A. Giodano, W. Rackl, B. Brunner, O. Porges, E. Kraemer, M. Pietras, J. Ratti, R. Biesbroek, "Robotic Aspects and Analyses in the Scope of the e.deorbit Mission Phase B1", 14th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), Leiden, Netherlands, May 2017.


[C7]  M. Corso,  P. Gasbarri,  W. Rackl, Steffen Jäkel and R. Lampariello Modelling, Dynamic Analysis and Robotic Control Strategies for the Deorbiting Operations of the ESA Satellite Envisat. American Institute of Aeronautics and Astronautics (AIAA), 2017 PEGASUS-AIAA Student Conference, Berlin, Germany, April 2017. [ AIAAPegasus ]


[C6]  M. D. Stefano, J. Artigas, W. Rackl and Alin Albu-Schäffer Passivity of Virtual Free-Floating Dynamics Rendered on Robotic Facilities. 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, May 2015. [ PDF IEEEXplore ]


[C5]  J. Artigas, M. D. Stefano, W. Rackl, B. Brunner, R. Lampariello, W. Bertle , R. Burger, O. Porges, A. Giordano, C. Borst, and A. Albu-Schäff er The OOS-SIM: An On-ground Simulation Facility For On-Orbit Servicing Robotic Operations. 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, May 2015. [ PDF IEEEXplore ]


[C4]  R. Lampariello, N. W. Oumer, J. Artigas, W. Rackl, G. Panin, R. Purschke, J. Harder, U. Walter, J. Frickel, I. Masic, K. Ravandoor, J. Scharnagl, K. Schilling, K. Landzettel, and G. Hirzinger Forrost: Advances in On-Orbit Robotic Technologies. Aerospace Conference, 2015 IEEE, Big Sky, Montana, USA, March 2015. [ PDF IEEEXplorre ]


[C3] Rackl, Wolfgang and Lampariello, Roberto  Parameter Identification of Free-Floating Robots with Flexible Appendages and Fuel Sloshing. In: 6th International Conference on Modeling, Identification and Control 2014 (ICMIC), December 2014, Melbourne, Australia, pp. 129-134.  [ PDF  IEEEXplore


[C2] Rackl, W. and Lampariello, R. and Albu-Schäffer, A. Parameter Identification Methods for Free-Floating Space Robots with Direct Torque Sensing. 19th IFAC Symposium on Automatic Control in Aerospace, pages 464–469, Würzburg, Germany, September 2013, pp. 464-469. [ PDF ELSEVIER ]


[C1] Rackl, Wolfgang and Lampariello, Roberto and Hirzinger, Gerd Robot Excitation Trajectories for Dynamic Parameter Estimation using Optimized B-Splines. 2012 IEEE International Conference on Robotics and Automation (ICRA), May 2012, Saint Paul, Minnesota, USA, pp. 2042-2047. [ PDF  IEEEXplore ]






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Last updated on Wednesday, 14 March 2018 by Wolfgang Rackl