DLR‘s Robotic Technologies for Space Debris Mitigation and On … · 2013-02-11 · DLR-RM, Klaus...
Transcript of DLR‘s Robotic Technologies for Space Debris Mitigation and On … · 2013-02-11 · DLR-RM, Klaus...
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DLR‘s Robotic Technologies for Space Debris
Mitigation and On-Orbit Servicing
Alin Albu-Schäffer
Institute of Robotics and MechatronicsD-82230 [email protected]
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Folie 2
Space Robotics Application Scenarios
at the German Aerospace Center (DLR)
On Orbit Servicingand Space Debris
Space Robot Assistance Planetary Exploration
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On Orbit Servicingwww.DLR.de • Chart 3
Robotics provides a scalable technology:
- from simple tasks like
deorbiting
space debris removal
- over maintenance and repair
- to complex assembly assistance functions
new ISS?
future manned Mars spacecraft
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Robot technology can handle both
- service and repair
- space debris mitigation
DLR DEOS mission
-ROSATENVISAT
ROSAT crash 2011
Space Debris Mitigation and on Orbit Servicing
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���� Only way to limit increase is to actively remove objects from LEO
Space debris in LEO: Increase of future population
(source: NASA)
Cascading
effect starts to increase space debris even w/o
any launches
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ROTEX - The first remotely controlled Robot in Space (1993)
IEEE Judith A. Resnik Award
1994 – JOHANNES DIETRICHInst. Robotics & Syst. Dynamics -
Wessling, Germany
'For development of a successful high-performance, rugged, multi-
sensor, miniaturized robotic gripper for use in the outer space
environment.'
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GETEX / ETS-VII 1999
� Target (0.4t)
� Chaser (2.5t)
� Launched by H-II rocket on Nov.28,1997
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Dynamic Motion Experiment
How does an Robot interact with the Satellite and affect its attitude control?
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Preparing light weight Robots and Hands for Space
Application
Requirements:
• low weight
• low energy consumption
• In size and agility
comparable humans
(antropomorph)
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JUSTIN System:
Weight: 45 kg
DoF: 43
Control Loop: 1kHz
Head:
DLR 3D Modeller
Stereo Camera
Laser Scanner and
Stripe Projector
3 DoF
2 DLR Light Weight
Arms (left and right)
7 DoF each
Torso:
4 Joints / 3 actuated
2 DLR Hands in left
and right configuration
12 DoF each
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ROKVISSRoboter Komponenten Verifikation auf der
ISS
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Final highlights
-Remote control „from home“
-return of the robot down to earth for
wear analysis
Technology Validated in ROKVISS6 Year Mission on ISS
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The DEOS Mission
Mission statement�Locate and approach a client satellite
�Capture a tumbling, non-cooperative satellite using a manipulator mounted on
a free flying service-satellite�Demonstrate servicing tasks: refuel, module exchange etc.
�De-orbiting of the coupled satellites within a pre-defined re-entry corridor
The DEOS Mission
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Robotics SubRobotics Sub--SystemSystem
Observation of c lient motion
Identification of dynamic parameters
Motion estimation
Path-planning
Path-control including visual-servoing
Decay the motion between servicer and c lient
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Hardware in the Loop Simulatoren
DEOS-Simulator
EPOS – simulation for approaching
simulation of grasping and ,manipulation
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Communication paths and corresponding round trip times
20 ms
250 ms
500 ms
Relais satellite in GEO
Spacecraft
in GEO
Spacecraft
in LEO
Spacecraft
in LEO
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Tele-Presence Operation with Time Delay
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18
Kontur 2 (Start
2014)METERON (Start
2015)
-Mars-End-To-End-RObotic Networking METERON
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ENVISAT
Possible Capture Methods (Subset only)
Antenna Structure Adaptor
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DEOS (Start 2017) – main DLR OOS MissionIs a Swift, Low-Cost Mission Feasible?
www.DLR.de • Chart 20
Small, swift project based on
DEXHAND and BIROS possible
as precursor mission?
(small arm, drag sail and tether for
de-orbiting)
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THANK YOU
FOR YOUR
ATTENTION!