The OOS-SIM: An on-ground simulation facility for on-orbit servicing robotic operations
Jordi Artigas, Marco De Stefano, Wolfgang Rackl, Roberto Lampariello, Bernhard Brunner, Wieland Bertleff, Robert Burger, Oliver Porges
Abstract
On-orbit servicing involves a new class of space missions in which a servicer spacecraft is launched into the orbit of a target spacecraft, the client. The servicer navigates to the client with the intention of manipulating it, using a robotic arm. Within this framework, this work presents a new robotic experimental facility which was recently built at the DLR to support the development and experimental validation of such orbital servicing robots. The facility allows reproducing a close-proximity scenario under realistic three-dimensional orbital dynamics conditions. Its salient features are described here, to include a fully actuated macro-micro system with multiple sensing capabilities, and analyses on its performance including the amount of space environment volume that can be simulated.
BibTeX
@inproceedings{icra2015_theoossimanongro,
title = {The OOS-SIM: An on-ground simulation facility for on-orbit servicing robotic operations},
author = {Jordi Artigas and Marco De Stefano and Wolfgang Rackl and Roberto Lampariello and Bernhard Brunner and Wieland Bertleff and Robert Burger and Oliver Porges and Alessandro Giordano and Christoph Borst and Alin Albu-Schaeffer},
booktitle = {ICRA 2015},
year = {2015}
}