TY - GEN
T1 - The OOS-SIM
T2 - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
AU - Artigas, Jordi
AU - De Stefano, Marco
AU - Rackl, Wolfgang
AU - Lampariello, Roberto
AU - Brunner, Bernhard
AU - Bertleff, Wieland
AU - Burger, Robert
AU - Porges, Oliver
AU - Giordano, Alessandro
AU - Borst, Christoph
AU - Albu-Schaeffer, Alin
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/6/29
Y1 - 2015/6/29
N2 - On-orbit servicing involves a new class of space missions in which a servicer spacecraft is launched into the orbit of a target spacecraft, the client. The servicer navigates to the client with the intention of manipulating it, using a robotic arm. Within this framework, this work presents a new robotic experimental facility which was recently built at the DLR to support the development and experimental validation of such orbital servicing robots. The facility allows reproducing a close-proximity scenario under realistic three-dimensional orbital dynamics conditions. Its salient features are described here, to include a fully actuated macro-micro system with multiple sensing capabilities, and analyses on its performance including the amount of space environment volume that can be simulated.
AB - On-orbit servicing involves a new class of space missions in which a servicer spacecraft is launched into the orbit of a target spacecraft, the client. The servicer navigates to the client with the intention of manipulating it, using a robotic arm. Within this framework, this work presents a new robotic experimental facility which was recently built at the DLR to support the development and experimental validation of such orbital servicing robots. The facility allows reproducing a close-proximity scenario under realistic three-dimensional orbital dynamics conditions. Its salient features are described here, to include a fully actuated macro-micro system with multiple sensing capabilities, and analyses on its performance including the amount of space environment volume that can be simulated.
UR - http://www.scopus.com/inward/record.url?scp=84938218028&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2015.7139588
DO - 10.1109/ICRA.2015.7139588
M3 - Conference contribution
AN - SCOPUS:84938218028
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2854
EP - 2860
BT - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 26 May 2015 through 30 May 2015
ER -