2015 IEEE International Conference on Robotics and Automation (ICRA) 2015
DOI: 10.1109/icra.2015.7139588
|View full text |Cite
|
Sign up to set email alerts
|

The OOS-SIM: An on-ground simulation facility for on-orbit servicing robotic operations

Abstract: 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 closeproximity scenario under… Show more

Help me understand this report

Search citation statements

Order By: Relevance

Paper Sections

Select...
2
1
1
1

Citation Types

0
58
0

Year Published

2015
2015
2024
2024

Publication Types

Select...
4
2
2

Relationship

1
7

Authors

Journals

citations
Cited by 61 publications
(58 citation statements)
references
References 17 publications
0
58
0
Order By: Relevance
“…In [6] a preliminary ground verification and feasibility of OOS was presented. At DLR-RMC, an OOS simulation facility [7] has been recently developed, aimed at on-ground testing and verification of robotic components for an OOS mission. This facility is composed of three robots: a six degrees of freedom (DoF) industrial robot, that simulates the free-floating dynamics of a target satellite (see Fig.…”
Section: A Motivationmentioning
confidence: 99%
See 2 more Smart Citations
“…In [6] a preliminary ground verification and feasibility of OOS was presented. At DLR-RMC, an OOS simulation facility [7] has been recently developed, aimed at on-ground testing and verification of robotic components for an OOS mission. This facility is composed of three robots: a six degrees of freedom (DoF) industrial robot, that simulates the free-floating dynamics of a target satellite (see Fig.…”
Section: A Motivationmentioning
confidence: 99%
“…Current robotic facilities to simulate free-floating dynamics in six DoF use industrial robots in order to fulfill workspace and dynamic related requirements [5], [7] . Usually these robots can be controlled only by means of position commands.…”
Section: Problem Statementmentioning
confidence: 99%
See 1 more Smart Citation
“…Capturing includes a wide range of strategies for controlling the mobility of an object [2], whereas grasping is to hold an object firmly, which is one of many capturing methods. In current, most studies focus on capturing and stabilizing graspable objects, and their graspable features include payload adapter rings [5], engine nozzle cones [6], solar panel brackets [7], and other customized grapple fixtures [8], [9]. Yoshida et al [6] proposed an impedance matching method for capturing a simulated satellite.…”
Section: Introductionmentioning
confidence: 99%
“…The OOS-Sim to simulate the robotic servicing. 26 The Satellite Simulator which simulates the communication infrastructure of the satellite and numerically calculates the flight dynamics. Furthermore the space link and ground station must be simulated.…”
Section: 25mentioning
confidence: 99%