In Orbit Servicing: Course Syllabus

Introduction:

Course outline

• -          History (past, present and future)
• -          Main mission concepts: berthing, docking, capture, handling, de-orbiting, re-orbiting; cooperative/uncooperative target; prepared/unprepared target;

Knowledge alignment:

• -          Astrodynamics: a summary
• -          Relative motion: an introduction and a summary

Rendezvous operations:

• -          Phasing; Far range, Close range, final approach

-          Navigation

• -          Mating systems

Robotics fundamentals

-          Degrees of freedom, joints, links, workspace

• -          Single body dynamics: reference frames, inertia characteristics, static moments

Robotic kinematics:

• -          Forward kinematics, inverse kinematics
• -          Denavit-Hartenberg
• -          Manipulator examples
• -          Matlab Robotic Toolbox
• -          Simscape Multibody Toolbox

Robot Dynamics:

• -          Lagrange approach, Newton Approach, Kane Approach

Robotic control

• -          Joints control, torque control, PID, Jacobian pseudoinverse, Jacobian transpose control, Reaction-Null control; Impedance control; Velocity control.
• -          Experimental realization: outer loop, inner loop.

Robotic navigation:

• -          Joint angle measurement;
• -          Relative navigation: IMU, GNSS
• -          Relative navigation: Vision based systems

End effectors:

• -          A review