Abstract
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.
Graduation Date
2020
Semester
Spring
Advisor
Elgohary, Tarek
Degree
Master of Science in Aerospace Engineering (M.S.A.E.)
College
College of Engineering and Computer Science
Department
Mechanical and Aerospace Engineering
Degree Program
Aerospace Engineering; Space System Design and Engineering
Format
application/pdf
Identifier
CFE0008425
Language
English
Release Date
November 2020
Length of Campus-only Access
None
Access Status
Masters Thesis (Open Access)
STARS Citation
Seleit, Ahmed Elsadek Ahmed, "Rapid Orbital Motion Emulator (ROME): Kinematics Modeling and Control" (2020). Electronic Theses and Dissertations, 2020-. 453.
https://stars.library.ucf.edu/etd2020/453