Validating the dynamics and control of space robotic systems by on-the-ground testing in simulated micro-gravity

Relatore:  Marcello Romano - Department of Mechanical and Astronautical Engineering, US Naval Postgraduate School, Monterey, California, USA
  martedì 20 gennaio 2004 alle ore 17.30
An overview is given of the design and exploitation of four different test-beds, which are
currently set up in our laboratories for the on-the-ground testing of the dynamics and control
of space systems. Simulation of a two-dimensional translation in micro-gravity is obtained by
floating a system over air pads on a flat granite table. Simulation of three-dimensional
torque-free rotation of a system around its center of mass is obtained by mounting it over
a hemispherical air bearing. The on going researches, involving the four test-beds, span the
following three main areas:
1)Autonomous docking and spacecraft servicing robot: in particular study of enabling
technologies and control strategy.
2)Spacecraft attitude dynamics and control: in particular stabilization and precise tracking
3)Dynamics and control of structurally flexible manipulator: in particular pre-shaping methods
to reduce the structural vibration during the maneuver.

Ca' Vignal 3 - Piramide, Piano 0, Sala Verde

Paolo Fiorini

Data pubblicazione
13 gennaio 2004

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