Integrated Technology Concept for Robotic On-Orbit Servicing Systems Bernd Maediger, Airbus DS GmbH Bremen, Germany
Visual-based navigation Manipulation Grasping Non-cooperative target GNC
Visual-based navigation Manipulation Grasping Non-cooperative target GNC
Technology Interactions Manipulation Close Range RdV Grasping GNC Robot Control Visualbased Navigation Visual Tracking
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
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
Capture of a small, slowly tumbling target (2) Challenges: Visual-based navigation for closerange rendezvous Detection of components to be grasped Grasping
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
Capture of a large, fast tumbling target (2) Considered Capture Solution: Removing solar array boom
Capture of a large, fast tumbling target (3) Challenges: Synchronized close-range rendezvous Detection of components to be grasped Interaktion GNC - Manipulator Grasping / Handling
Needed Technology Developments Servicing System Concepts Autonomous systems cheap components Smart nets Hybrid System Architectures Systems Engineering Control Systems Image Processing GNC Mechatronics
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
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 21.11.2014
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
Image Processing Control Systems Timeline Milestones Main Developments Specifications GNC Mechatronics
Image Processing Control Systems Timeline Milestones Main Developments Specifications GNC Mechatronics
Image Processing Control Systems Timeline Milestones Main Developments Specifications GNC Mechatronics
Increase Maturity of Imaging Sensors EM/FVB Qualification In-flight Demonstration Application 2015 2016 2018 2021 2025 2D Cameras Mini-Cameras Mono-Camera IR-Cameras Intelligent Sensors
Increase Maturity of Imaging Sensors EM/FVB Qualification In-flight Demonstration Application 2015 2016 2018 2021 2025 2D Cameras Mini-Cameras Mono-Camera IR-Cameras Intelligent Sensors Lidar & Range cameras
Increase Maturity of Imaging Sensors EM/FVB Qualification In-flight Demonstration Application 2015 2016 2018 2021 2025 2D Cameras Mini-Cameras Mono-Camera IR-Cameras Intelligent Sensors Lidar & Range cameras Alternative Sensors
Development of new algorithms EM/FVB Qualification In-flight Demonstration Application 2015 2016 2018 2021 2025 Model-based Object- & Pose Recognition Pose Initialization Tracking
Development of new algorithms EM/FVB Qualification In-flight Demonstration Application 2015 2016 2018 2021 2025 Model-based Object- & Pose Recognition Pose Initialization Visible Camera Image Preprocessing Tracking IR Camera Image Preprocessing Passive data aquisition Object Reconstruction 21.11.2014
Development of new algorithms EM/FVB Qualification In-flight Demonstration Application 2015 2016 2018 2021 2025 Model-based Object- & Pose Recognition Pose Initialization Visible Camera Image Preprocessing Tracking IR Camera Image Preprocessing Passive data aquisition Object Reconstruction Landing Technologies
Simulation & Verification Prototypes Qualification In-flight Demonstration Application 2015 2016 2018 2021 2025 Test Facilities INVERITAS EPOS HARF ExoMars yard
Simulation & Verification Prototypes Qualification In-flight Demonstration Application 2015 2016 2018 2021 2025 Test Facilities INVERITAS EPOS HARF ExoMars yard Stimuli Generators
Simulation & Verification EM/FVB Qualification In-flight Demonstration Application 2015 2016 2018 2021 2025 Test Facilities INVERITAS EPOS HARF ExoMars yard Stimuli Generators Sensor Simulator
Simulation & Verification EM/FVB Qualification In-flight Demonstration Application 2015 2016 2018 2021 2025 Test Facilities INVERITAS EPOS HARF ExoMars yard Stimuli Generators Optical parameters Realistic illumination Sensor Simulator Test bed based simulations Verification & Calibration
Image Processing Control Systems Timeline Milestones Main Developments Specifications GNC Mechatronics
GNC Roadmap EM/FVB Qualification In-flight Demonstration Application 2015 2016 2018 2021 2025 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
Image Processing Control Systems Timeline Milestones Main Developments Specifications GNC Mechatronics
Control Systems Roadmap EM/FVB Qualification In-flight Demonstration Application 2015 2016 2018 2021 2025 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
Image Processing Control Systems Timeline Milestones Main Developments Specifications GNC Mechatronics
Mechatronics Roadmap 2015 2016 Modular Robots e Integrat In-flight Demonstration Qualification EM/FVB 2021 2018 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
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
Verification Facilities: INVERITAS
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
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