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.


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    Title :

    Ground Simulation of an Autonomous Satellite Rendezvous and Tracking System Using Dual Robotic Systems


    Contributors:
    M. J. Trube (author) / A. M. Hyslop (author) / C. R. Carignan (author) / J. W. Easley (author)

    Publication date :

    2012


    Size :

    8 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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