@TechReport{Nardin:2019:SoEnBe,
               author = "Nardin, Anderson Brazil",
                title = "Internship report: software environment for berthing maneuvers of 
                         satellites endowed with robotic manipulators",
          institution = "Instituto Nacional de Pesquisas Espaciais",
                 year = "2019",
                 type = "RPQ",
               number = "INPE-18238-RPQ/938",
              address = "S{\~a}o Jos{\'e} dos Campos",
             keywords = "real-time, hardware-in-the-loop, space robotics, attitude control 
                         system.",
             abstract = "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.",
          affiliation = "{Instituto Nacional de Pesquisas Espaciais (INPE)}",
             language = "en",
                pages = "58",
                  ibi = "8JMKD3MGP3W34R/3U6K6T5",
                  url = "http://urlib.net/ibi/8JMKD3MGP3W34R/3U6K6T5",
           targetfile = "publicacao.pdf",
        urlaccessdate = "27 abr. 2024"
}