Paper Info
Title
Generating Feasible Trajectories For Autonomous On-Orbit Grasping Of Spinning Debris In A Useful Time
Abstract
The grasping and stabilization of a spinning, noncooperative target satellite by means of a free-flying robot is addressed. A method for computing feasible robot trajectories for grasping a target with known geometry in a useful time is presented, based on nonlinear optimization and a look-up table. An off-line computation provides a data base for a mapping between a four-dimensional input space, to characterize the target motion, and an N-dimensional output space, representing the family of time-parameterized optimal robot trajectories. Simulation results show the effectiveness of the data base for computing grasping maneuvers in a useful time, for a sample range of spinning motions. The debris object consists of a satellite with solar appendages in Low Earth Orbit, which presents collision avoidance and timing challenges for executing the task.
Year
Venue
Keywords
2013
2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
geometry,artificial satellites,earth orbit,stability
Field
DocType
ISSN
Control theory,Computer science,Nonlinear programming,Control engineering,Artificial intelligence,Earth's orbit,Computation,Orbit,Computer vision,Satellite,Spinning,Collision,Robot
Conference
2153-0858
Citations 
PageRank 
References 
6
0.66
11
Authors
2
Name
Order
Citations
PageRank
Roberto Lampariello1799.97
gerd hirzinger25185617.40