1. Identificação | |
Tipo de Referência | Relatório (Report) |
Site | mtc-m21c.sid.inpe.br |
Código do Detentor | isadg {BR SPINPE} ibi 8JMKD3MGPCW/3DT298S |
Identificador | 8JMKD3MGP3W34R/3U6K6T5 |
Repositório | sid.inpe.br/mtc-m21c/2019/10.04.12.14 |
Última Atualização | 2019:10.07.12.04.58 (UTC) simone |
Repositório de Metadados | sid.inpe.br/mtc-m21c/2019/10.04.12.14.11 |
Última Atualização dos Metadados | 2020:01.06.11.42.23 (UTC) administrator |
Número do Relatório | INPE-18238-RPQ/938 |
Chave de Citação | Nardin:2019:SoEnBe |
Título | Internship report: software environment for berthing maneuvers of satellites endowed with robotic manipulators |
Ano | 2019 |
Data de Acesso | 26 maio 2024 |
Tipo | RPQ |
Número de Páginas | 58 |
Número de Arquivos | 1 |
Tamanho | 1540 KiB |
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2. Contextualização | |
Autor | Nardin, Anderson Brazil |
Grupo | CGETE-CGETE-INPE-MCTIC-GOV-BR |
Afiliação | Instituto Nacional de Pesquisas Espaciais (INPE) |
Endereço de e-Mail | luis.cpv@hotmail.com |
Instituição | Instituto Nacional de Pesquisas Espaciais |
Cidade | São José dos Campos |
Histórico (UTC) | 2019-10-04 13:18:39 :: luis.cpv@hotmail.com -> simone :: 2019-10-07 11:52:31 :: simone :: -> 2019 2019-10-07 12:06:08 :: simone -> administrator :: 2019 2019-10-07 16:47:12 :: administrator -> simone :: 2019 2019-10-07 16:50:55 :: simone -> administrator :: 2019 2020-01-06 11:42:23 :: administrator -> simone :: 2019 |
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3. Conteúdo e estrutura | |
É a matriz ou uma cópia? | é a matriz |
Estágio do Conteúdo | concluido |
Transferível | 1 |
Palavras-Chave | real-time hardware-in-the-loop space robotics attitude control system |
Resumo | The modeling of a robotic system in a space environment shall be thoroughly investigated, with emphasis on the disturbances its movement causes on the pose of the satellite, which serves as base to a robotic manipulator. These disturbances are considered torques generated by the actuation of the robotic mechanisms during berthing between artificial satellites. The movement of the satellite considered as the base of the robotic arm, due to the coupled manipulators moves, dynamically changes the distance between end effector and target point. A previous 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. My study proposes using the available EPOS robots (European Proximity Operations Simulator) at DLR (German Aerospace Center) to exploit concepts of hardware-in-the-loop and real-time simulations. In this scenario, two physical robots play the role of chaser and target satellites involved in a berthing maneuver, while a virtual robotic manipulator coupled to the chaser satellite is emulated by the implemented software. The robotic arm which serves as an object of study in this work consists of a revolute manipulator with three rotating joints and three degrees of freedom in a Torsional - Rotational - Rotational (TRR) configuration moving in space. Such configuration gives it diverse applications and notable usefulness in the accomplishment of on-orbit servicing. The experiments were useful to prove the validity of the developed algorithms and this work achieved success in the task of creating a reliable software environment for tests of berthing maneuvers. |
Área | ETES |
Arranjo | urlib.net > BDMCI > Fonds > Produção anterior à 2021 > CGETE > Internship report: software... |
Conteúdo da Pasta doc | acessar |
Conteúdo da Pasta source | originais/@4primeirasPaginas-10.pdf | 04/10/2019 09:23 | 147.3 KiB | originais/Internship Report_v2.2.pdf | 04/10/2019 08:08 | 1.5 MiB | |
Conteúdo da Pasta agreement | |
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4. Condições de acesso e uso | |
URL dos dados | http://urlib.net/ibi/8JMKD3MGP3W34R/3U6K6T5 |
URL dos dados zipados | http://urlib.net/zip/8JMKD3MGP3W34R/3U6K6T5 |
Idioma | en |
Arquivo Alvo | publicacao.pdf |
Grupo de Usuários | luis.cpv@hotmail.com simone |
Visibilidade | shown |
Licença de Direitos Autorais | urlib.net/www/2012/11.12.15.10 |
Permissão de Leitura | allow from all |
Permissão de Atualização | não transferida |
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5. Fontes relacionadas | |
Unidades Imediatamente Superiores | 8JMKD3MGPCW/3EUUDJE |
Lista de Itens Citando | |
Acervo Hospedeiro | urlib.net/www/2017/11.22.19.04 |
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6. Notas | |
Campos Vazios | archivingpolicy archivist callnumber contenttype copyholder creatorhistory date descriptionlevel dissemination doi edition electronicmailaddress format isbn issn label lineage mark mirrorrepository nextedition notes orcid parameterlist parentrepositories previousedition previouslowerunit progress project readergroup recipient resumeid rightsholder schedulinginformation secondarydate secondarykey secondarymark secondarytype session shorttitle sponsor subject tertiarymark tertiarytype translator url versiontype |
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7. Controle da descrição | |
e-Mail (login) | simone |
atualizar | |
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