@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/ibi/8JMKD3MGP3W34P/3J259P2",
targetfile = "publicacao.pdf",
urlaccessdate = "04 maio 2024"
}