Space missions design requires already tested and trusted control algorithms for spacecraft motion. Rapidly testing control algorithms at a low cost is essential. A novel robotic system that emulates orbital motion in a laboratory environment is presented. The system is composed of a six degree of freedom robotic manipulator fixed on top of an omnidirectional ground vehicle accompanied with onboard computer and sensors. The integrated mobile manipulator is used as a testbed to emulate and realize orbital motion and control algorithms. The kinematic relations of the ground vehicle, robotic manipulator and the coupled kinematics are derived. The system is used to emulate an orbit trajectory. The system is scalable and capable of emulating servicing missions, satellite rendezvous and chaser follower problems.
| Identifer | oai:union.ndltd.org:ucf.edu/oai:stars.library.ucf.edu:etd2020-1452 |
| Date | 01 January 2020 |
| Creators | Seleit, Ahmed Elsadek Ahmed |
| Publisher | STARS |
| Source Sets | University of Central Florida |
| Language | English |
| Detected Language | English |
| Type | text |
| Format | application/pdf |
| Source | Electronic Theses and Dissertations, 2020- |
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