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On the dynamic modelling, planning and control of a space robot emulator

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On the dynamic modelling, planning and control of a space robot emulator (EN)
Χριστοφή, Νικολένα (EL)
Christofi, Nikolena (EN)
Παπαδόπουλος, Ευάγγελος (EL)
ntua (EL)
Αντωνιάδης, Ιωάννης (EL)
Κυριακόπουλος, Κωνσταντίνος (EL)
bachelorThesis
2017-07-20T09:41:53Z
2017-03-01
2017-07-20
In an attempt to construct a full dynamic model that sufficiently describes the dynamiccharacteristicsofaspacerobotanditsbehaviourwhileexecutingcertain on-board servicing tasks, a research was made, which resulted in a model-based controller, considering all the 7 degrees of freedom of the robot. Based on the mission scenario, the controller analyses the desired outcome to commands sent straight to the robot’s actuators, the operation of which achieves the predefined objectives. Using an optimisation method, the torques and forces needed to act on the robot’s state variables, are translated into the forces and torques which shall act on the system’ actuators, which are the three thrusters sets and servo motors mounted on the two manipulators’ links, in each arm. The robot emulator is capable of performing a planar movement, within the air bearing testbed of the Space Robotics Lab of the csl and shall conduct trajectory planning to reach, grasp and move along a predefined space moving target. This paper tackles the analysis of the approach followed for the controller and planner composition, taken under consideration the physical constraints imposed on the system, by the actuators of the actual robot, and its mechanical components. The modelling of the latter was included in both the dynamic modelling of the system as well as in the control module. The dynamic analysis and control are simulated in Matlab 2016b and Simulink; the results are presented in Chapter 6. Further investigation on the simulation capabilities of Gazebo and ROS are being explored, in an effort to achieve a realistic simulation of the behavior of space robots in virtual environments. (EN)
Trajectory planning (EN)
Space robotics (EN)
Model-based controller (EN)
Dynamic modelling (EN)
Space robot emulator (EN)
English
Εθνικό Μετσόβιο Πολυτεχνείο. Σχολή Μηχανολόγων Μηχανικών. Τομέας Μηχανολογικών Κατασκευών και Αυτομάτου Ελέγχου. Εργαστήριο Αυτομάτου Ελέγχου και Ρυθμίσεως Μηχανών και Εγκαταστάσεων (EL)
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National Technical University of Athens
Digital Library of National Technical University of Athens | Dspace@NTUA
Κεντρική Βιβλιοθήκη Ε.Μ.Π.
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