Simulation Environment of Astrobee-RINGS System
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The thesis analyzes a flight software of a new free flying robot Astrobee, that will change the current Synchronized Position Hold Engage Reorient Experimental Satellites (SPHERES) on International Space Station (ISS). First, the main components of the flight software were examined: Robotic Operating System (ROS), Gazebo and MATLAB. During that phase, functionalities of ROS, Gazebo and MATLAB were analyzed, and it was found how these components integrate between each other to build Astrobee flying software. Next, simulation of two Astrobees performing “in-home” and “torque” maneuvers was executed. After a successful completion of simulation, results of Astrobee’s trajectory was recorded. Then, by changing inertia matrix of Astrobees, Resonant Inductive Near-field Generation System (RINGS) was added to the existing simulation. The same maneuvers were performed, and the results were recorded. The last part of thesis developed a gazebo model plugin that, according to the separation distance and angle of rotation of two Astrobee-RINGS systems, calculated force and torque that must be applied to Astrobee-RINGS system in the simulation. Then results of trajectory changes were recorded. They were compared between original Astrobee and Astrobee-RINGS system, and between gazebo force and torque plugin and Simulink force and torque plugin. It was concluded that, Astrobee’s propulsion system is capable of moving Astrobee-RINGS system.