Banca de QUALIFICAÇÃO: VITOR DOMINGUES MARQUES RIBEIRO

Uma banca de QUALIFICAÇÃO de MESTRADO foi cadastrada pelo programa.
STUDENT : VITOR DOMINGUES MARQUES RIBEIRO
DATE: 15/08/2023
LOCAL: Sala de reuniões do INTM
TITLE:

Dynamic Modeling of Robotic Platform for Capture and Deorbit of Nanosatellites in LEO Orbit

KEY WORDS:

space-debris; robotics; nanosatellites; visual servoing.

PAGES: 86
BIG AREA: Engenharias
AREA: Engenharia Aeroespacial
SUMMARY:

This work presents the study of the dynamic phenomena of a robotic platform in a space environment in the orbit of planet Earth when performing the task of capturing space debris with dimensions similar to those of a nanosatellite. The study is carried out considering disturbances caused by torques generated by the joints of the robotic arm during the capture movement and the application of a control technique that compensates for such disturbances using vision and distance sensors coupled to the capture tool installed at the end of the robotic arm. The robotic arm is described by a manipulator with six rotating joints and, therefore, six degrees of freedom, three for position and three for orientation of the tool-sensors set. The study suggests from the structural modeling to the limit values of torque and acceleration of the robotic arm during its operation, simulated in a software environment and in the laboratory. The laboratory simulation consists of observing the behavior of the robot on a floating platform with reduced friction, and its reaction to the disturbances caused by the torques of the joints on the plane parallel to the Earth's surface, avoiding the effects of Earth's gravity.

COMMITTEE MEMBERS:
Externo à Instituição - LEONARDO BARBOSA TORRES DOS SANTOS - UPE
Interno - 2296912 - OSCAR OLIMPIO DE ARAUJO FILHO
Presidente - 2154866 - TIAGO FELIPE DE ABREU SANTOS