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.
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Master of Science in Aerospace Engineering (M.S.A.E.)
College of Engineering and Computer Science
Mechanical and Aerospace Engineering
Aerospace Engineering; Space System Design and Engineering
Length of Campus-only Access
Masters Thesis (Open Access)
Seleit, Ahmed Elsadek Ahmed, "Rapid Orbital Motion Emulator (ROME): Kinematics Modeling and Control" (2020). Electronic Theses and Dissertations, 2020-. 453.