A ROS/Gazebo-based framework for simulation and control of on-orbit robotic systems
dc.contributor.author | Ramón, José Luis | |
dc.contributor.author | Pomares, Jorge | |
dc.contributor.author | Felicetti, Leonard | |
dc.date.accessioned | 2022-09-26T13:50:44Z | |
dc.date.available | 2022-09-26T13:50:44Z | |
dc.date.issued | 2022-09-22 | |
dc.description.abstract | The 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.citation | Ramón 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, France | en_UK |
dc.identifier.uri | https://iac2022.org/ | |
dc.identifier.uri | https://dspace.lib.cranfield.ac.uk/handle/1826/18468 | |
dc.language.iso | en | en_UK |
dc.publisher | International Astronautical Federation (IAF) | en_UK |
dc.relation.ispartofseries | ;IAC-22,D1,4A,10,x69056 | |
dc.rights | Attribution 4.0 International | * |
dc.rights.uri | http://creativecommons.org/licenses/by/4.0/ | * |
dc.subject | space robot | en_UK |
dc.subject | humanoid robot | en_UK |
dc.subject | robot control | en_UK |
dc.subject | ROS | en_UK |
dc.title | A ROS/Gazebo-based framework for simulation and control of on-orbit robotic systems | en_UK |
dc.type | Conference paper | en_UK |
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