Optimization in berthing maneuvers of satellites endowed with robotic manipulators

• Ano de defesa: 2020
• Autor(a) principal: Anderson Brazil Nardin
• Orientador(a): Evandro Marconi Rocco, Heike Benninghoff
• Banca de defesa: Ijar Milagre da Fonseca, Aguinaldo Cardozo da Costa Filho, Alexandre Carvalho Leite
• Tipo de documento: Tese
• Tipo de acesso: Acesso aberto
• Idioma: eng
• Instituição de defesa: Instituto Nacional de Pesquisas Espaciais (INPE)
• Programa de Pós-Graduação: Programa de Pós-Graduação do INPE em Mecânica Espacial e Controle
• País: BR
• Link de acesso: http://urlib.net/sid.inpe.br/mtc-m21c/2020/08.09.05.32

The study of On-Orbit Servicing (OOS) missions has shown the necessity for developing a methodology able to provide solutions for berthing maneuvers of artificial satellites, being the chaser endowed with a robotic manipulator, applying the multi-objective optimization of conflicting objectives. This work aspires to develop a multi-objective optimization approach that aims to find a balanced solution among conflicting objectives. Movement accuracy, attitude maintenance, maneuver time, and energy consumption from different sources are going to be the selected criteria for optimization due to their great importance, despite the inherent difficulty for simultaneous optimization that they impose on berthing maneuvers of artificial satellites. The approach of this work focuses on the disturbances the robotic arm and base satellite cause to each other. Such disturbances are considered torques generated by the coupling between the robotic manipulator and its base satellite through their distinct control systems. The robotic arm configuration allows diverse applications and notable usefulness in the accomplishment of OOS. The results showed that it was possible to test and validate the developed simulation environment for berthing maneuvers through real-time and hardware-in-the-loop (HIL) simulations using the European Proximity Operations Simulator (EPOS) at German Aerospace Center (DLR). In this scenario, two physical robots play the role of chaser and target satellites involved in the maneuver, while a virtual robotic manipulator coupled to the chaser satellite is simulated by software. This work was successful in creating reliable software for tests of berthing maneuvers since the developed algorithms found balanced solutions among conflicting objectives.