NDLI: Control of a fully-actuated airship for satellite emulation

Content Provider	IEEE Xplore Digital Library
Author	Sharf, I. Laumonier, B. Persson, M. Robert, J.
Copyright Year	2008
Description	Author affiliation: Dept. of Mech. Eng., McGill Univ., Montreal, QC (Sharf, I.)
Abstract	Over the past four years, researchers at McGill University have developed a novel concept for studying dynamics and control of robotic grasping of objects in space. This problem arises in several applications - those currently under investigation include on-orbit servicing of satellites and removal of space debris. The main difficulty in experimental testing of such tasks is how to emulate the gravity-free environment of space here on the ground. A number of experimental facilities have been developed around the world to emulate the gravity-free conditions for space robotics research. For example, one popular approach involves floating the system under investigation - a robotic arm or a mock-up satellite - on air-bearings on a glass- covered or granite table. A few research establishments have invested in neutral buoyancy water tanks for three- dimensional, high-fidelity, albeit very costly, emulation of weightlessness. We have proposed a novel idea which involves using a small helium blimp to emulate a free-floating object. Although not perfect, this concept is simpler, less expensive to implement and is more suitable for 3D emulation of the gravity-free conditions of space. An experimental facility has been developed in the Aerospace Mechatronics Laboratory to implement this concept in an indoor laboratory setting. The main components of our facility are: a six-degree-of-freedom robotic manipulator placed on a 3 m linear track, a spherical helium airship 6 ft in diameter, made neutrally buoyant and balanced, a Vicon six-camera system and associated control hardware and software interfaces. This video submission focuses on the control of the airship for satellite emulation.
Starting Page	2218
Ending Page	2219
File Size	140115
Page Count	2
File Format	PDF
ISBN	9781424416462
ISSN	10504729
DOI	10.1109/ROBOT.2008.4543542
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-05-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Satellites Emulation Orbital robotics Helium Laboratories Aerodynamics Robot control Space debris Testing Mechatronics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

ETS-VII, space robot in-orbit experiment satellite

Space robot autonomy based on distance sensors

Autonomous capture of a tumbling satellite

Experiences and lessons learned from the ETS-VII robot satellite

Tele-manipulation of a satellite mounted robot by an on-ground astronaut

Towards dynamic team formation for robot ensembles

On satellite vision-aided robotics experiment

Space robot experiments on NASDA's ETS-VII satellite-preliminary overview of the experiment results

The Robot Programming Network

Control of a fully-actuated airship for satellite emulation

Similar Documents

ETS-VII, space robot in-orbit experiment satellite

Space robot autonomy based on distance sensors

Autonomous capture of a tumbling satellite

Experiences and lessons learned from the ETS-VII robot satellite

Tele-manipulation of a satellite mounted robot by an on-ground astronaut

Towards dynamic team formation for robot ensembles

On satellite vision-aided robotics experiment

Space robot experiments on NASDA's ETS-VII satellite-preliminary overview of the experiment results

The Robot Programming Network

Control of a fully-actuated airship for satellite emulation