A ROS/Gazebo-based framework for simulation and control of on-orbit robotic systems

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dc.contributor.authorRamón, José Luis
dc.contributor.authorPomares, Jorge
dc.contributor.authorFelicetti, Leonard
dc.date.accessioned2022-09-26T13:50:44Z
dc.date.available2022-09-26T13:50:44Z
dc.date.issued2022-09-22
dc.description.abstractThe use of simulation tools such as ROS/Gazebo is currently common practice for testing and developing control algorithms for typical ground-based robotic systems but still is not commonly accepted within the space community. Numerous studies in this field use ad-hoc built, but not standardized, not open-source, and, sometimes, not verified tools that complicate, rather than promote, the development and realization of versatile robotic systems and algorithms for space robotics. This paper proposes an open-source solution for space robotics simulations called OnOrbitROS. This paper presents a description of the architecture, the different software modules, and the simulation possibilities of OnOrbitROS. It shows the key features of the developed tool, with a particular focus on the customization of the simulations and eventual possibilities of further expansion of the tool. In order to show these capabilities, a computed torque-based controller for the guidance of a free-floating manipulator is proposed and simulated using the ROS/Gazebo-based framework described in the paper.en_UK
dc.identifier.citationRamón JL, Pomares J, Felicetti L. (2022) A ROS/Gazebo-based framework for simulation and control of on-orbit robotic systems. In: 73rd International Astronautical Congress (IAC-22), 18-22 September 2022, Paris, Franceen_UK
dc.identifier.urihttps://iac2022.org/
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/18468
dc.language.isoenen_UK
dc.publisherInternational Astronautical Federation (IAF)en_UK
dc.relation.ispartofseries;IAC-22,D1,4A,10,x69056
dc.rightsAttribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjectspace roboten_UK
dc.subjecthumanoid roboten_UK
dc.subjectrobot controlen_UK
dc.subjectROSen_UK
dc.titleA ROS/Gazebo-based framework for simulation and control of on-orbit robotic systemsen_UK
dc.typeConference paperen_UK

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