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@MastersThesis{Nardin:2015:AnMaAt,
               author = "Nardin, Anderson Brazil",
                title = "An{\'a}lise de manobras de atraca{\c{c}}{\~a}o de 
                         sat{\'e}lites dotados de manipuladores rob{\'o}ticos",
               school = "Instituto Nacional de Pesquisas Espaciais (INPE)",
                 year = "2015",
              address = "S{\~a}o Jos{\'e} dos Campos",
                month = "2015-04-17",
             keywords = "manobras de espa{\c{c}}onaves, rob{\'o}tica, controle de 
                         atitude, spacecraft maneuvers, robotics, attitude control.",
             abstract = "Neste trabalho {\'e} investigada a modelagem de um sistema 
                         rob{\'o}tico em ambiente espacial, levando em 
                         considera{\c{c}}{\~a}o as perturba{\c{c}}{\~o}es causadas 
                         {\`a} atitude do sat{\'e}lite decorrentes de torques gerados 
                         pelo acionamento dos mecanismos rob{\'o}ticos na fase de 
                         atraca{\c{c}}{\~a}o (\emph{berthing}) entre sat{\'e}lites 
                         artificiais. O movimento da base do rob{\^o}, em virtude do 
                         reposicionamento do sat{\'e}lite por meio de seus atuadores, 
                         altera dinamicamente a dist{\^a}ncia do ponto meta. O 
                         bra{\c{c}}o rob{\'o}tico que serve de objeto de estudo neste 
                         trabalho consiste de um manipulador revoluto com tr{\^e}s juntas 
                         rotativas e tr{\^e}s graus de liberdade em 
                         configura{\c{c}}{\~a}o Torcional-Rotacional-Rotacional (TRR) 
                         movendo-se no espa{\c{c}}o. Configura{\c{c}}{\~a}o tal que lhe 
                         confere aplicabilidade diversificada e not{\'o}ria utilidade na 
                         realiza{\c{c}}{\~a}o de servi{\c{c}}os em {\'o}rbita. A 
                         mitiga{\c{c}}{\~a}o dos erros de posicionamento, gerados pelos 
                         movimentos de rota{\c{c}}{\~a}o e transla{\c{c}}{\~a}o do 
                         sat{\'e}lite artificial e aqueles oriundos dos movimentos de 
                         extens{\~a}o, flex{\~a}o e rota{\c{c}}{\~a}o do aparato 
                         rob{\'o}tico acoplado ao sat{\'e}lite, nos possibilita uma 
                         vis{\~a}o mais clara sobre as estrat{\'e}gias necess{\'a}rias 
                         para o uso futuro desta tecnologia. A an{\'a}lise realizada 
                         sugere que a elabora{\c{c}}{\~a}o de modelos que contemplem a 
                         corre{\c{c}}{\~a}o din{\^a}mica de erros de posicionamento e 
                         opera{\c{c}}{\~a}o simult{\^a}nea, bem como cooperativa, dos 
                         sistemas de controle do sat{\'e}lite artificial e do rob{\^o} 
                         proporciona vantagens em miss{\~o}es deste tipo. ABSTRACT: In 
                         this work it is investigated the modelling of a robotic system in 
                         a space environment, taking into account the disturbances caused 
                         to the satellite attitude resulting from torques generated by 
                         actuation of the robotic mechanisms during berthing between 
                         artificial satellites. The movement of the robot base, due to 
                         repositioning of the satellite through its actuators, dynamically 
                         changes the distance from the target. The robotic arm that serves 
                         as the object of study in this work consists of a revolute 
                         manipulator with three rotating joints and three degrees of 
                         freedom in configuration Torsional - Rotational - Rotational (TRR) 
                         moving in space. Such configuration confers diverse applicability 
                         and notable usefulness in performing on-orbit servicing. The 
                         mitigation of positioning errors caused by rotation and 
                         translation of the artificial satellite and those from movements 
                         of extension, flexion and rotation of the robotic apparatus 
                         coupled to the satellite, allows us a clearer insight about the 
                         necessary strategies for the future use of this technology. The 
                         analysis suggests that the development of models that consider the 
                         dynamic correction of positioning errors and simultaneous, as well 
                         as cooperative, operation of the artificial satellite's and 
                         robot's control systems provides advantages in such missions.",
            committee = "Kuga, H{\'e}lio Koiti (presidente) and Rocco, Evandro Marconi 
                         (orientador) and Souza, Marcelo Lopes de Oliveira e and Santos, 
                         Willer Gomes dos and Fenili, Andr{\'e}",
           copyholder = "SID/SCD",
         englishtitle = "Analysis of berthing maneuvers of satellites equipped with robotic 
                         manipulators",
             language = "pt",
                pages = "181",
                  ibi = "8JMKD3MGP3W34P/3J259P2",
                  url = "http://urlib.net/rep/8JMKD3MGP3W34P/3J259P2",
           targetfile = "publicacao.pdf",
        urlaccessdate = "04 dez. 2020"
}


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