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

Artigas, Jordi; Stefano, Marco De; Rackl, Wolfgang; Lampariello, Roberto; Brunner, Bernhard; Bertleff, Wieland; Burger, Robert; Porges, Oliver; Giordano, Alessandro M.; Borst, Christoph; Albu-Schäffer, Alin

doi:10.1109/icra.2015.7139588

Cited by 58 publications

(58 citation statements)

References 17 publications

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“…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%

“…2 shows the interface architecture. The facility consists of a KR120 industrial robot [7] provided with a 6 DoF Force-Torque Sensor ( Interface (RCI) at a rate of 4 ms. The total round trip delay between the commanded position and the measured position, was measured to be 16 ms.…”

Section: Problem Statementmentioning

confidence: 99%

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Passivity of virtual free-floating dynamics rendered on robotic facilities

Stefano

Artigas

Rackl

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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This paper describes a control strategy to achieve high fidelity dynamics simulation rendered on admittance controlled robotic facilities. It explores the reasons for an increasing energy found in the virtual dynamics of a freefloating satellite rendered on a six degree of freedom robot, which can lead the system to become unstable and proposes a method to cope with it. The proposed method identifies the sources of intrinsic instability provoked by time delays that are found in the computational loop of the rendered dynamics and counteracts their destabilizing effects using the passivity criteria. The performance of the system and the benefits of the method are shown in simulations and are verified experimentally.

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Section: A Motivationmentioning

confidence: 99%

Section: Problem Statementmentioning

confidence: 99%

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Passivity of virtual free-floating dynamics rendered on robotic facilities

Stefano

Artigas

Rackl

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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“…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%

Effective Capture of Nongraspable Objects for Space Robots Using Geometric Cage Pairs

Zhang

Liu

Feng

et al. 2020

IEEE/ASME Trans. Mechatron.

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Capture and removal of space debris is challenging in robotic on-orbit servicing (OOS) activities. A large portion of space debris does not possess any graspable features, which makes conventional grippers inapplicable. To handle such non-graspable objects, a space robotic capture system is presented. A dual-arm space robot simulator that has the advantages of miniaturization and scalability is designed for ground tests. Inspired by robotic caging, we propose a novel capture method that uses a series of hollow-shaped end-effector pairs to cage the antipodal pairs of non-graspable objects. To apply the caging-pair method steadily, space robots need exerting a squeezing action on objects, which can be characterized by the motion and force manipulation of two robotic arms in the assigned directions. Based on the velocity and force manipulability transmission ratios, a caging compatibility index is proposed to describe the capturing ability in this manner. Via the optimization of the desired caging compatibility index, an effective algorithm is proposed to plan near-optimal joint configurations for pre-grasping cages. Finally, both simulation studies and experimental tests are conducted to evaluate the performance of the proposed capture method. Index Terms-Non-graspable objects, space robot simulator, caging-pair method, caging compatibility index. R ! ! q q w J v J J Mv k J T Mv E k k k = t k J

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“…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%

End-to-End Simulation of On-Orbit-Servicing: Technical implementation of communications

Weber

Gnat

Hauke

et al. 2018

2018 SpaceOps Conference

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The robotic on-orbit servicing technology promises an increase in life-time of operational satellites and the removal of space debris. Though such tasks are of high importance for future space exploration in general, many agencies and companies struggle with running such missions. One of the reasons is definitely to find the ultimate business case. Moreover, on-orbit servicing imposes very high risks on a mission due to its complexity which is almost as high as in human spaceflight. It is therefore essential to perform end-to-end hardwarein-the-loop simulations of a mission on ground before it is being carried out in space. For this purpose, the On-Orbit-Servicing End-to-End Simulation project (OOS E2E) has been established at the German Aerospace Center (DLR). The project uses expertise, resources and facilities from a couple of DLR institutes. Contributors are the German Space Operations Center (GSOC), the Institute of Robotics and Mechatronics (RM) and the Institute of System Dynamics and Control (SR). The aim of the On-Orbit-Servicing End-to-End Simulation project is to connect the different simulation facilities of these institutes and integrate them into a single end-to-end simulation of on-orbit servicing. One of the facilities is the European Proximity Operations Simulator (EPOS) to simulate the rendezvous maneuver between the client satellite and the chaser satellite. The other facility is the On-Orbit-Servicing Simulator (OOS-Sim) of the Institute of Robotics and Mechatronics to simulate the robotic telepresence operations.In this paper we focus on the implementation of data communication between all of the simulation facilities. Especially, the need for real-time robotic telepresence operations creates a new set of requirements for the communication chain. To account for a realworld scenario, it is therefore important to simulate the communication chain and the operational environment of an on-orbit servicing mission. The behavior of the space link, as well as the data transportation on ground, must be taken into account, including all communication parameters like possible loss, delay, jitter, corruption or duplication in the TM/TC data streams. As these parameters vary over time, the occurrence of bursts and the timely distribution of these parameters play a significant role. Furthermore, the beginning, the end and possible handovers of a satellite passage must be simulated. As the robotic telepresence operations are as important as the housekeeping operations, the setup must be optimized for processing both robotic real-time data and standard satellite TM/TC data in parallel. To do so, both data streams must be multiplexed into a single space link. This is done by specially developed FPGA devices that can be synchronized to a common master clock to multiplex/demultiplex both data streams into/from a single space link in a timely manner. Furthermore, Space Link Protocols have to be implemented between the space and ground components of the simulation. In the same way, the protocols of the ground seg...

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

Cited by 58 publications

References 17 publications

Passivity of virtual free-floating dynamics rendered on robotic facilities

Passivity of virtual free-floating dynamics rendered on robotic facilities

Effective Capture of Nongraspable Objects for Space Robots Using Geometric Cage Pairs

End-to-End Simulation of On-Orbit-Servicing: Technical implementation of communications

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