@PhDThesis{Seito:2015:MoSiRe,
author = "Seito, Narumi",
title = "Modelagem e simula{\c{c}}{\~a}o de rendezvous e docking",
school = "Instituto Nacional de Pesquisas Espaciais (INPE)",
year = "2015",
address = "S{\~a}o Jos{\'e} dos Campos",
month = "2015-05-28",
keywords = "encontro e acoplamento/atraca{\c{c}}{\~a}o, tecnologia
rob{\'o}tica aeroespacial, equa{\c{c}}{\~a}o de
Hill-Clohessy-Wiltshire, quat{\'e}rnio,
parametriza{\c{c}}{\~a}o, rendezvous \& docking/berthing,
aerospace robotics technology, Hill-Clohessy-Wiltshire equation,
quaternion, parameterization.",
abstract = "Esta tese tem como objetivo apresentar uma solu{\c{c}}{\~a}o
para o problema de RVD/B (encontro e
acoplamento/atraca{\c{c}}{\~a}o) entre duas espa{\c{c}}onaves,
perseguidora e alvo, em {\'o}rbita. Depois de uma breve
revis{\~a}o da literatura para contextualizar este trabalho,
apresentam-se as estrat{\'e}gias de aproxima{\c{c}}{\~a}o, as
t{\'e}cnicas de sincroniza{\c{c}}{\~a}o de {\'o}rbita e
atitude, e a t{\'e}cnica de aproxima{\c{c}}{\~a}o de
proximidade, sendo suportadas por dois sistemas de
equa{\c{c}}{\~o}es diferenciais para os movimentos translacional
e rotacional das espa{\c{c}}onaves. Duas
configura{\c{c}}{\~o}es s{\~a}o consideradas para a
espa{\c{c}}onave rob{\'o}tica perseguidora: uma, quando o
manipulador rob{\'o}tico, nela incorporado, estiver inerte, e a
outra, quando o manipulador rob{\'o}tico estiver em
a{\c{c}}{\~a}o. Na primeira configura{\c{c}}{\~a}o, a
formula{\c{c}}{\~a}o newtoniana {\'e} usada para obter as
equa{\c{c}}{\~o}es da din{\^a}mica de transla{\c{c}}{\~a}o de
Hill-Clohessy-Wiltshire, e o movimento de atitude {\'e}
determinado pelas equa{\c{c}}{\~o}es de Euler. Estes dois
sistemas de equa{\c{c}}{\~o}es obtidos acima permitem conduzir o
perseguidor at{\'e} o espa{\c{c}}o de trabalho de
atraca{\c{c}}{\~a}o do alvo. Na segunda
configura{\c{c}}{\~a}o, a formula{\c{c}}{\~a}o de Lagrange,
para quase-coordenadas e para coordenadas generalizadas, fornece
as equa{\c{c}}{\~o}es do movimento do manipulador rob{\'o}tico
para a atraca{\c{c}}{\~a}o no alvo. No equacionamento e na
simula{\c{c}}{\~a}o num{\'e}rica das aberturas do manipulador
rob{\'o}tico, reside a originalidade da tese. As
simula{\c{c}}{\~o}es computacionais da din{\^a}mica de ambas as
configura{\c{c}}{\~o}es foram implementadas utilizando-se o
pacote de software MatLab. ABSTRACT: In this thesis strategies to
solve the problem of the RVD/B (RendezVous and Docking/Berthing)
orbital operations are studied. In a brief review of the
literature, the strategies of approximation, the techniques for
orbit and attitude synchronization, and the technique for the
close proximity approximation are presented, all of them supported
by two systems of differential equations for the translational and
rotational motion of both spacecrafts. Two configurations are
considered for the chaser: one when the robotic manipulator of the
chaser is inert, and a second one when the robotic manipulator is
in action. In the first configuration the Newtonian formulation is
used to obtain the equations of Hill-Clohessy-Klein for the
translational dynamics, while the attitude motion is determined by
Eulers equations. These two systems of differential equations
allow to guide the chaser up to the point for berthing the target.
In the second configuration, the Lagrangian formulation for
quasi-coordinates and generalized coordinates supplies the
equations for the motion of the robotic manipulator when berthing
the target. These latter equations and their numerical simulation
of berthing the target are the original part of this thesis. The
computational simulations of the dynamics are carried out by use
of the software MatLab.",
committee = "Rocco, Evandro Marconi (presidente) and Fonseca, Ijar Milagre da
(orientador) and Saotome, Osamu (orientador) and G{\'o}es, Luiz
Carlos Sandoval and Pontuschka, Maur{\'{\i}}cio Nacib",
copyholder = "SID/SCD",
englishtitle = "Modeling and simulation of rendezvous and docking/berthing",
language = "pt",
pages = "139",
ibi = "8JMKD3MGP3W34P/3JK5DS8",
url = "http://urlib.net/ibi/8JMKD3MGP3W34P/3JK5DS8",
targetfile = "publicacao.pdf",
urlaccessdate = "27 abr. 2024"
}