A hardware-in-the-loop ground system was developed for simulating a robotic servicer spacecraft tracking a target satellite at short range. A relative navigation sensor package "Argon" is mounted on the end-effector of a Fanuc 430 manipulator, which functions as the base platform of the robotic spacecraft servicer. Machine vision algorithms estimate the pose of the target spacecraft, mounted on a Rotopod R-2000 platform, relay the solution to a simulation of the servicer spacecraft running in "Freespace", which performs guidance, navigation and control functions, integrates dynamics, and issues motion commands to a Fanuc platform controller so that it tracks the simulated servicer spacecraft. Results will be reviewed for several satellite motion scenarios at different ranges. Key words: robotics, satellite, servicing, guidance, navigation, tracking, control, docking.
Ground Simulation of an Autonomous Satellite Rendezvous and Tracking System Using Dual Robotic Systems
International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS) ; 2012 ; Turin, Italy
2012-09-04
Aufsatz (Konferenz)
Keine Angabe
Englisch
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