@InProceedings{FonsecaLimaSaotOliv:2018:SpRoDy,
               author = "Fonseca, Ijar da and Lima, Glaydson L. B. and Saotome, Osamu and 
                         Oliveira, {\'E}lcio Jeronimo de",
          affiliation = "{Instituto Tecnologico de Aeron{\'a}utica (ITA)} and {Instituto 
                         Tecnologico de Aeron{\'a}utica (ITA)} and {Instituto Tecnologico 
                         de Aeron{\'a}utica (ITA)} and {Instituto Nacional de Pesquisas 
                         Espaciais (INPE)}",
                title = "Space robot dynamic analysis of the relative orbital and attitude 
                         motion in the close range rendezvous phase and grasping of a 
                         target space vehicle",
                 year = "2018",
         organization = "International Astronautical Congress, 69.",
             abstract = "This article deals with the dynamic analysis of the close approach 
                         phase of a space robot to a target spacecraft aiming the grasping 
                         of a target space vehicle. The chaser robot shall berth by side of 
                         the target so as to have it inside its workspace envelop. The 
                         grasping operation shall be executed by inverse kinematics. The 
                         computer simulation of the equations of the dynamics (relative 
                         orbital and attitude equations of motion) yields the grasping 
                         conditions and such results are compared with the inverse 
                         kinematics grasping operation implemented in a lab experiment. In 
                         the experiment it is used two robot manipulators mounted on an air 
                         supported platform, constituting a floating robotic system that 
                         operates on a glass table. The experiment is wireless and this 
                         feature is obtained by using Wifi to implement the communication 
                         of the human operator with the robots and a platform containing 
                         its own air compressed cylinders. In addition to the Wifi the 
                         manipulator platforms include microcontroller, a set of valves to 
                         control the compressed air flow, and two compressed air cylinders. 
                         The actuators for rotational/translational motion operate on the 
                         base of compressed air. A Kinect v2 sensor supported by 
                         computational vision is employed externally to the experiment. The 
                         use of such sensor aims to measure velocity, perform robot 
                         tracking as well as to obtain the X, Y, and Z positions of the 
                         manipulators grippers at run time and 3D video scenes. The 
                         information is sent via Wifi, over the UDP protocol, to a computer 
                         with MATLAB software, which writes the actual speed and 
                         positioning information and compares with the prescribed results 
                         (estimated in simulation). The experimental result obtained by 
                         inverse kinematics for the capture of the target is compared with 
                         the results of the computational simulations, aiming at the 
                         validation and improvement of the mathematical model simulated via 
                         MATLAB. If the error does not meet the nominal specification the 
                         operator commands the robot system to continue the control loop. 
                         The compressed air autonomy is about 30 minutes for the platform 
                         floating and 1 minute for the grasping operation. The results are 
                         presented by using plots of the relative distance and velocity 
                         with respect to time, attitude synchronization with respect to 
                         time, and the robot-like spacecraft attitude motion during the 
                         safety-critical operations of grasping the target spacecraft. The 
                         direct kinematics obtained by the computational simulation is 
                         compared with the results of the inverse kinematics obtained via 
                         experiment.",
  conference-location = "Bremen",
      conference-year = "01-05 oct.",
             language = "pt",
        urlaccessdate = "28 abr. 2024"
}