Space Robotics TC Perspective

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ICRA 2012 Workshop on Robotic Satellite Servicing(May 14, 2012)Space Robotics TC PerspectiveSpace Robotics Lab.Dept of Aerospace EngineeringTohoku University, JapanKazuya Yoshida

IEEE RASSpace Robotic Technical Committee Formed in May, 2006 Committee Chairs (as of 2010):Dimi Apostolopoulos, Carnegie Mellon University.Richard Volpe, Jet Propulsion Laboratory, Caltech.Kazuya Yoshida, Tohoku University Current membership: 28 Scope of Interest Orbital Robotics Planetary Robotics

IEEE RASSpace Robotic Technical Committee 20111. Workshop on Space Robotics Simulation, IEEE/RSJ InternationalConference on Intelligent Robots and Systems (IROS), San Francisco,California, USA. 25-29 September 2011.2. Challenges in Robotics: Down to Earth, An International Symposium onRobotics and Mechatroncis, German Aerospace Center (DLR), Wessling,Germany, 21-22 November 2011.3. Space Robotics Workshop, IEEE International Conference on Roboticsand Automation (ICRA), Shanghai, China, 13 May 2011.4. IEEE/AIAA Aerospace Conference, Big Sky, Montana, USA, 5-12 March2011. Special sessions, including “2.07 – Mobility and RoboticsSystems for In Situ Exploration”. 20101. Japan-U.S. Technology and Space Applications (JUSTSAP), Island ofHawaii, USA 14-18 November 2010. Symposium was attended bySRTC member Rick Wagner, who provided a report.2. Planetary Rovers Workshop, IEEE International Conference on Roboticsand Automation (ICRA), Anchorage AK, 3 May 2010.3. Space Robotics TC Triennial Report, May 2010.

IEEE RASSpace Robotic Technical Committee 20091. IEEE Robotics & Automation Magazine, Special Issue on SpaceRobotics. Editors: Richard Volpe, Rick Wagner, GianfrancoVisentin. Volume 16, No. 4. December 2009. 20081. Planetary Rovers Workshop, IEEE International Conference onRobotics and Automation (ICRA), Pasadena CA, 19 May 2008.2. Orbital Robotics Workshop, IEEE International Conference onRobotics and Automation (ICRA), Pasadena CA, 20 May 2008. 20071. Space Robotics Workshop, IEEE International Conference onRobotics and Automation (ICRA), Rome Italy, 14 April 2007.2. Presentation of the RAS Space Robotics TC to the AIAA SARTCmeeting at NASA Ames Research Center on September 19,2006. See a report on the meeting.

Challenge to Satellite Servicingin Early Days of Space Shuttle MissionSTS-14(51A), 1984Retrieval of malfunctioning Wester-6 satellite NASA

Satellite Servicing : Concept in early 80’s Telerobotic Servicerin ARAMIS report, 1983SPACE APPLICATIONS OF AUTOMATION, ROBOTICS AND MACHINE INTELLIGENCE SYSTEMS(ARAMIS)-Phase II, By D. L. Akin, M. L. Minsky, E. D. Thiel, and C. R. Kurtzman, NASA-CR-3734, 1983

Satellite Servicing : Concept in early 80’s Telerobotic Servicerin ARAMIS report, 1983SPACE APPLICATIONS OF AUTOMATION, ROBOTICS AND MACHINE INTELLIGENCE SYSTEMS(ARAMIS)-Phase II, By D. L. Akin, M. L. Minsky, E. D. Thiel, and C. R. Kurtzman, NASA-CR-3734, 1983

Technologies forRobotic Satellite Servicing Rendezvous and Fly-around Orbital mechanics and control Proximity sensors, Visual inspection Capture and Berthing Manipulator control Teleoperation, Latency, Bandwidth Reaction dynamics, Impact/contact dynamics In-Orbit Servicing Tasks Refuel, Assemble, Exchange, Repair De-orbit, Re-orbit

Example of Rendezvous trajectory (ETS-VII)

Dynamics and Control of FreeFlying Multibody SystemsGround-based manipulatorFree-flying manipulator

Control of Free-Floating Arms usingGeneralized Jacobian Matrix(Umetani & Yoshida 1987, 1989) Expand conventional manipulator kinematicsby combining with the momentum equation.xh J*φφ (J*)-1 xh

ETS-VII:Engineering Test Satellite forthe demonstration of RVD andSpace Robotic technologies1997-1999Mission by National Space Development Agency, NASDA, Japan Purpose:Study and demonstrate robotics capability for orbital missions andautonomous RVD technology Feature:A 2m-long, 6 DOF manipulator arm ismounted on an unmanned basesatellite. A sub-satellite is separatedfor the RVD experiments. Mission:Launched on Nov. 28, 1997, themission successfully completed bythe end of 1999.

RoboticsExperiments Autonomous exchangeof ORUs.Dexterous taskssuch as peg-in-hole operation.Teleoperation from a ground station via TDRS.Assembling components.Deploy and retrieve a space structure.Capture and berthing of a target satellite.Dynamics and control of a free-flyingmultibody system.

Satellite Capture in Orbit Satellitecapture operation is needed for futurespace missions. Application examples: Reorbit a stranded satellite,Deorbit a dead satellite, Refuel an operationalsatellite, Assemble components in orbit Orbital Express (2007, DARPA)was also successful indemonstrating RVD and roboticstechnology in space, includingfuel transfer and target captureoperation.

Free-Flying MultibodyContact Dynamics inSpaceDynContactDynamics Dynamics Modeling of ContactForceModeling of Contact Dynamics Dynamics of the systemHφ c τ JTF Contact forceFn kn(δn)s dn(δn)t-FF

Robotic Satellite Servicing ETS-VII / Orbital Express– A Milestone for Future Satellite Servicing– Success in capture & berthing of aCooperative target.– With a dedicated handle/gripper system,and attitude stabilization of the targetsatellite. Capture of a Non-Cooperative target is a keyissue to the next step.

Grasp a nozzle-cone of an apogee-kickrocket motoras a common feature of geostational satellitesK. Landaettel, B. Brunner, G. Hirzinger:"The Telerobotic Concepts for ESS," IARP Workshop on SpaceRobotics, Montreal, July 6-8, 1994. DLR DLR

A Case Study: Target ModelDRTS Geostational SatelliteMass:1300 [kg] (EOL)Size of body:2.2 2.4 2.2 [m]Size of solar paddle:2.4 7.3 [m] (1 wing)Size of nozzle coneφ296 [mm] 450 [mm]

A Case Study: ExperimentCollaboration with Space Robotics Group,Tsukuba Space Center, NASDA7DOF Robot ArmF/T SensorF/T SensorNozzle of the Target:The motion of the targetsatellite is emulated basedon the F/T sensor.Capture Probe:Impedance Control

Z Z im mt *force [N]Impedance 30time [s]X35time [s]force [N]ki 50 [N/m]2-220mi 10 [kg]di 500 [N/(m/s)]X方向

Technologies forRobotic Satellite Servicing Rendezvous and Fly-around Orbital mechanics and control Proximity sensors, Visual inspection Capture and Berthing Manipulator control Teleoperation, Latency, Bandwidth Reaction dynamics, Impact/contact dynamics In-Orbit Servicing Tasks Refuel, Assemble, Exchange, Repair De-orbit, Re-orbit

The Space Robotics Lab.Dept. of Aerospace EngineeringTohoku University, JAPANDirected by Prof. Kazuya stro.mech.tohoku.ac.jp/home-e.htmlFree-Flying Space RobotRobotic Systems on ISSThe SPACEROBOTICSLab.Planetary Exploration RoversAsteroid Sampling

Space Robotics Workshop, IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, 13 May 2011. 4. IEEE/AIAA Aerospace Conference, Big Sky, Montana, USA, 5-12 March . IEEE Robotics & Automation Magazine, Special Issue on Space Robotics. Editors: Richard Volpe, Rick Wagner, Gianfranco Visentin. Volume 16, No. 4 .

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