Dynamic Simulations of Free-Floating Space Robots

  • Tomasz Rybus
  • Karol Seweryn
  • Marek Banaszkiewicz
  • Krystyna Macioszek
  • Bernd Mädiger
  • Josef Sommer
Conference paper

DOI: 10.1007/978-1-4471-2343-9_30

Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 422)
Cite this paper as:
Rybus T., Seweryn K., Banaszkiewicz M., Macioszek K., Mädiger B., Sommer J. (2012) Dynamic Simulations of Free-Floating Space Robots. In: Kozłowski K. (eds) Robot Motion and Control 2011. Lecture Notes in Control and Information Sciences, vol 422. Springer, London

Abstract

This paper focuses on the dynamics of a 6-dof manipulator mounted on a free-flying servicer satellite during final part of an on-orbit rendezvous maneuver. Determination of reaction torques induced by the manipulator on the servicer satellite is critical for the development of the Guidance, Navigation and Control (GNC) subsystem. Presented in this paper is a path planning algorithm for capturing a tumbling target satellite, as well as simulation results of the capture maneuver and folding of the manipulator with the attached target satellite. The second part of this paper is focused on the presentation of our work leading to the construction of a planar air-bering test-bed for space manipulators.

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Copyright information

© Springer London 2012

Authors and Affiliations

  • Tomasz Rybus
    • 1
  • Karol Seweryn
    • 1
  • Marek Banaszkiewicz
    • 1
  • Krystyna Macioszek
    • 1
  • Bernd Mädiger
    • 2
  • Josef Sommer
    • 2
  1. 1.Space Research CentrePolish Academy of SciencesWarsawPoland
  2. 2.ASTRIUM Space Transportation GmbHBremenGermany

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