Orbital Robotic Systems: Mechanics and Control

What it is about

You will learn how to model multi-body systems in orbit, derive their dynamics, and solve control tasks. The emphasis is on motion and control of interconnected rigid bodies (e.g., spacecraft with manipulators), including special cases such as jointed systems, closed chains and tethers, as well as on-board autonomy and technological aspects of orbital robotics.

What you will be able to do

• Apply mathematical foundations to multi-body mechanics
• Formulate multi-body mechanics and control problems
• Analyze absolute and relative motion of two rigid bodies in Euclidean space and in orbit
• Solve the motion of coupled (jointed) rigid bodies in space and orbit
• Derive the dynamics and control of stationary robot arms (fixed-base)
• Analyze the dynamics and control of spacecraft-manipulator systems in a plane and in orbit
• Capture maneuvers: contact dynamics, grasping and initial control strategies
• Assess models and control approaches for closed multi-body systems
• Analyze the dynamics and control of tether-satellite systems
• Identify on-board autonomy and technological requirements of orbital robotics

What the module consists of

• LectureConveying theoretical, analytical and algorithmic content on modeling and control
• TutorialReview, discussion and solution of analytical and numerical tasks; use of software libraries for visualization

Teaching method

• Presentations and blackboard workExplanation and derivation of theory and algorithms
• DiscussionsDeepening and critical engagement with content
• Analytical and numerical problem-solving exercisesPractice with calculation methods and practical problem solving
• Use of open mission software librariesVisualization of orbits and practical handling of tools
• MoodleProvision of materials and exercises