Integrated Technology Concept for Robotic On-Orbit Servicing Systems

Transcription

1 Integrated Technology Concept for Robotic On-Orbit Servicing Systems Bernd Maediger, Airbus DS GmbH Bremen, Germany

2 Visual-based navigation Manipulation Grasping Non-cooperative target GNC

3 Visual-based navigation Manipulation Grasping Non-cooperative target GNC

4 Technology Interactions Manipulation Close Range RdV Grasping GNC Robot Control Visualbased Navigation Visual Tracking

5 Scope Ø Ø Ø Development Examples Capture of a small, slowly tumbling target Capture of a large, fast tumbling target Development Needs Image Processing Control Systems GNC Mechatronics Test & Verification Inveritas Test Facility ISS Robotics Testbed

6 Capture of a small, slowly tumbling target (1) Used as design case: TerraSAR Sun-synchronous orbit Current mass: about 1300kg Envelope Ø: 2414mm Length: 4917mm

7 Capture of a small, slowly tumbling target (2) Challenges: Visual-based navigation for closerange rendezvous Detection of components to be grasped Grasping

8 Capture of a large, fast tumbling target (1) Used as design case: ENVISAT Sun-synchronous orbit Current mass: about 8000kg Dimensions: 2.5 m X 2.5 m X 10 m EoL: 2012

9 Capture of a large, fast tumbling target (2) Considered Capture Solution: Removing solar array boom

10 Capture of a large, fast tumbling target (3) Challenges: Synchronized close-range rendezvous Detection of components to be grasped Interaktion GNC - Manipulator Grasping / Handling

11 Needed Technology Developments Servicing System Concepts Autonomous systems cheap components Smart nets Hybrid System Architectures Systems Engineering Control Systems Image Processing GNC Mechatronics

12 Needed Technology Developments Servicing System Concepts Autonomous systems cheap components Smart nets Extensions of Development Processes A&R specific S/W life cycle A&R verification cycle ECSS A&R specific extensions Modelling of components and operations Simulators Hybrid System Architectures Systems Engineering Control Systems Image Processing GNC Mechatronics Systems Engineering 3D-Design Methods Contact Dynamics Verification Methods Modelling and Simulation

13 Needed Technology Developments Servicing System Concepts Autonomous systems cheap components Smart nets Extensions of Development Processes A&R specific S/W life cycle A&R verification cycle ECSS A&R specific extensions Modelling of components and operations Simulators Operations and science support Tele-operation Scenic modelling (SM) Integration SM/Tele-science Interactivity components Hybrid System Architectures Systems Engineering Control Systems Image Processing GNC Mechatronics Systems Engineering 3D-Design Methods Contact Dynamics Verification Methods Modelling and Simulation Systems Engineering Operations Communication Animation/Visualisation

14 Needed Technology Developments Servicing System Concepts Autonomous systems cheap components Smart nets Extensions of Development Processes A&R specific S/W life cycle A&R verification cycle ECSS A&R specific extensions Modelling of components and operations Simulators Operations and science support Tele-operation Scenic modelling (SM) Integration SM/Tele-science Interactivity components Hybrid System Architectures Systems Engineering Control Systems Image Processing GNC Mechatronics Systems Engineering 3D-Design Methods Contact Dynamics Verification Methods Modelling and Simulation Systems Engineering Operations Communication Animation/Visualisation

15 Image Processing Control Systems Timeline Milestones Main Developments Specifications GNC Mechatronics

16 Image Processing Control Systems Timeline Milestones Main Developments Specifications GNC Mechatronics

17 Image Processing Control Systems Timeline Milestones Main Developments Specifications GNC Mechatronics

18 Increase Maturity of Imaging Sensors EM/FVB Qualification In-flight Demonstration Application D Cameras Mini-Cameras Mono-Camera IR-Cameras Intelligent Sensors

19 Increase Maturity of Imaging Sensors EM/FVB Qualification In-flight Demonstration Application D Cameras Mini-Cameras Mono-Camera IR-Cameras Intelligent Sensors Lidar & Range cameras

20 Increase Maturity of Imaging Sensors EM/FVB Qualification In-flight Demonstration Application D Cameras Mini-Cameras Mono-Camera IR-Cameras Intelligent Sensors Lidar & Range cameras Alternative Sensors

21 Development of new algorithms EM/FVB Qualification In-flight Demonstration Application Model-based Object- & Pose Recognition Pose Initialization Tracking

22 Development of new algorithms EM/FVB Qualification In-flight Demonstration Application Model-based Object- & Pose Recognition Pose Initialization Visible Camera Image Preprocessing Tracking IR Camera Image Preprocessing Passive data aquisition Object Reconstruction

23 Development of new algorithms EM/FVB Qualification In-flight Demonstration Application Model-based Object- & Pose Recognition Pose Initialization Visible Camera Image Preprocessing Tracking IR Camera Image Preprocessing Passive data aquisition Object Reconstruction Landing Technologies

24 Simulation & Verification Prototypes Qualification In-flight Demonstration Application Test Facilities INVERITAS EPOS HARF ExoMars yard

25 Simulation & Verification Prototypes Qualification In-flight Demonstration Application Test Facilities INVERITAS EPOS HARF ExoMars yard Stimuli Generators

26 Simulation & Verification EM/FVB Qualification In-flight Demonstration Application Test Facilities INVERITAS EPOS HARF ExoMars yard Stimuli Generators Sensor Simulator

27 Simulation & Verification EM/FVB Qualification In-flight Demonstration Application Test Facilities INVERITAS EPOS HARF ExoMars yard Stimuli Generators Optical parameters Realistic illumination Sensor Simulator Test bed based simulations Verification & Calibration

28 Image Processing Control Systems Timeline Milestones Main Developments Specifications GNC Mechatronics

29 GNC Roadmap EM/FVB Qualification In-flight Demonstration Application Closed Range GNC (alternative sensors) Independent Sensors Sensor Support Interaction with manipulator system Independent Control Coupled Control Combined Control Low thrust guidance Robotic CAM Robust control of large scale systems Advanced GNC engineering

30 Image Processing Control Systems Timeline Milestones Main Developments Specifications GNC Mechatronics

31 Control Systems Roadmap EM/FVB Qualification In-flight Demonstration Application Development Methods Rapid Prototyping MBSE Autocoding Verification (HIL, Testbenches)) Multicore systems Distributed systems Space&time partioning Failure tolerant systems Control Architectures Integrated bus-systems Decision making Data bus Power bus Inspection&Test Space&time partioning Communication Concepts Redundancy concept FDIR- Principles

32 Image Processing Control Systems Timeline Milestones Main Developments Specifications GNC Mechatronics

33 Mechatronics Roadmap Modular Robots e Integrat In-flight Demonstration Qualification EM/FVB configu rable ro ger h 4-fin ) (DLR plex ing Tool rs e gripp om for c r e p grip tions a oper Gripper&Tools Sensor Integration 2025 bots d robots ed Dedicat grippers Application and

34 Verification Facilities: INVERITAS Ø Ø Ø Objectives Simulation and test of the complete RvD control loop Sensor performance tests Technology development testbed Main Features Working volume: 24mx12mx10m 2 robots with 10 DoF (combined) Accuracy: 4.6mm Sun lighting illumination:14500lux (at 10m/12 ) Partner DFKI Bremen Robotics Innovation Center

35 Verification Facilities: INVERITAS

36 Verification Facilities: ISS Robotics Testbed Ø Ø Ø Objectives Technology development test bed Robotic operations test bed Model validation, e.g. contact dynamics, joint models Main Features Modified industrial robot KUKA iiwa Impedance controlled ISS standard rack EDR2 Integration into standard Columbus infrastructure (power, data) Status Feasibility study in progress

37 Thank you for your attention The Team: D. Wilde, J. Sommer, S. Estable, I. Ahrns, B. Langpap, M. Doermer, U. Soppa The developments have been co-funded by the German Space Agency DLR