Tool Chains for Simulation and Experimental Validation of Orbital Robotic Technologies
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1 DLR.de Chart 1 > The Next Generation of Space Robotic Servicing Technologies > Ch. Borst Exploration of Orbital Robotic Technologies > Tool Chains for Simulation and Experimental Validation of Orbital Robotic Technologies Roberto Lampariello, Christoph Borst Institute of Robotics and Mechatronics German Areospace Center (DLR)
2 DLR.de Chart 2 Objectives, Simulators What is the story about all those simulators? Is it really a validation/verification? For what do we need them if it s not verification?
3 DLR.de Chart 3 > The Next Generation of Space Robotic Servicing Technologies > Ch. Borst Exploration of Orbital Robotic Technologies > Are space-robots the next big thing? Christoph Borst Institute of Robotics and Mechatronics German Areospace Center (DLR)
4 DLR.de Chart 4 What makes the robot a success story on earth? A robot is a programmable, multipurpose device. The same robot can be used for different tasks. The same application is used many times in the same company / different companies Adding a new application to a robot is cost intensive
5 DLR.de Chart 5 What is the expectation on robots in space? Saving costs? We don t build many space robots We can t use the technology developed for the last mission We don t have the same application many times (not yet). We can use robots instead of special mission specific mechanisms Rendering: Airbus Can we develop standard operations? We need procedures to verify the operations. European Proximity Operations Simulator
6 DLR.de Chart 6 Is space robotics driving innovation in robotics? No! The mechatronics used is bulky and built with old (but tested) components. Developments for a mission are time consuming and document work is boring One mission every 10 years? Strict requirement driven development is contrary to the nature of the robot which heads for generality
7 DLR.de Chart 7 Is space robotics driving innovation in robotics? No! The mechatronics used is bulky and built with old (but tested) components. Developments for a mission are time consuming and document work is boring Yes! Teach in of coordinate frames is not an option Satellite based operation is mobile manipulation at its best One mission every 10 years? Strict requirement driven development is contrary to the nature of the robot which heads for generality While the next step on assembly on ground is to add static forces to assembly, here dynamics is to be solved
8 DLR.de Chart 8 Innovation by example The german orbital servicing mission DEOS Approaching Docking & Repair Grasping Deorbiting
9 DLR.de Chart 9 Basic concept for the original mission
10 DLR.de Chart 10 Developing the technology & proof of concept Simulating towards the real mission Idea: Incrementally develop from a pure virtual computer simulation to more realistic systems using always the same core flight controller.
11 DLR.de Chart 11 Developing the technology & proof of concept Simulating towards the real mission
12 DLR.de Chart 12 Developing the technology & proof of concept Simulating towards the real mission
13 DLR.de Chart 13 Developing the technology & proof of concept Simulating towards the real mission
14 DLR.de Chart 14 The virtual simulation frame
15 DLR.de Chart 15 The lightweight robot frame using an existing setup
16 DLR.de Chart 16 The lightweight robot frame using an existing setup
17 DLR.de Chart 17 The lightweight robot frame using an existing setup
18 DLR.de Chart 18 The lightweight robot frame using an existing setup
19 DLR.de Chart 19 The OOS Simulator Frame
20 DLR.de Chart 20 The OOS Simulator Frame
21 DLR.de Chart 21 The OOS Simulator Frame
22 DLR.de Chart 22 This was the simple task: Technologies to handle the robot / satellite Task: Simple Pick & Place Discussion within the consortium if Torque Controlled Robot is needed (cost efficiency) Design to Cost Phase: Evaluation if a target in space can be used No changes for the robot no changes for the mission objectives Mount a structure on a cooperating target to restore the setup!
23 DLR.de Chart 23 This was the simple task: Technologies to handle the robot / satellite Task: Simple Pick & Place Discussion within the consortium if Torque Controlled Robot is needed (cost efficiency) Design to Cost Phase: Evaluation if a target in space can be used No changes for the robot no changes for the mission objectives Mount a structure on a cooperating target to restore the setup!
24 DLR.de Chart 24 This is a game changer: Now it is an assembly task Mounting the gears of an oilpump Rotor Core assembly EC TAPAS Project How to find a robust strategy for safely grasping the satellite with small clearance?
25 DLR.de Chart 25 Visualization of the new task:
26 DLR.de Chart 26 Analysis of the precision needed to accomplish the task TCP Precision joint precision Image Resolution Frame rate Motion Planner Motion Controller (impedance/ position ) DEOS Arm Camera Kinematic Chain Camera Pose Estimation Pose Estimation Precision
27 DLR.de Chart 27 Pose estimation / tracking precision Ray-Tracing Simulator to analyse best case tracking: movement translation
28 DLR.de Chart 28 Pose estimation / tracking precision Towards a worst case estimation Open Loop Test Setup Robot System Coordinate Frames
29 DLR.de Chart 29 Test setup on EPOS at DLR Lightning conditions are heavily influencing the tracking precision Here the original DEOS setup is installed Smaller structures & MLI might have heavy influence as well
30 DLR.de Chart 30 A flexible vision testbed
31 DLR.de Chart 31 Results from the testbed
32 DLR.de Chart 32 Grasping the satellite Critical Path Grasping the fixture joining assignment Grasping Strategy - to be verified
33 DLR.de Chart 33 If automation fails can telepresence help?
34 DLR.de Chart 34 If automation fails can telepresence help?
35 DLR.de Chart 35 Define relevant earth analog setups & accept results
36 DLR.de Chart 36 Define relevant earth analog setups & accept results
37 DLR.de Chart 37 Define relevant earth analog setups & accept results
38 DLR.de Chart 38 Conclusion: Think about operations and experiments! The researchers made this possible: Roberto Lampariello Jordi Artigas Gorgio Panin Bernhard Brunner Martin Lingenauber Florian Schmidt Robert Burger Toralf Boge Rainer Krenn
39 DLR.de Chart 39 Thank you for your attention
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