{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/95399"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/95399","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Dynamic modeling of a robotic spacecraft for NASA’s asteroid redirect robotic mission","abstract":"NASA’s Asteroid Redirect Robotic Mission (ARRM) aims to pick up a boulder from the surface of a large asteroid and transport it to a distant retrograde orbit around the Moon for future exploration by a manned mission. This thesis presents a detailed analysis of the dynamic modeling of the ARRM spacecraft grasping the boulder. This model is used for three-axis attitude control design and simulation of the system. This thesis presents a 30 degree-of-freedom nonlinear lumped-mass model for the structural dynamics of the spacecraft-boulder system. This model is derived using the Euler-Lagrange formulation and simulated in the Matlab-Simulink environment. Another model is derived using Kane’s formulation and SD/FAST, a software package dedicated to deriving dynamic models. Both models are linearized numerically about an equilibrium point. The frequency domain analysis of these linearized models is presented to understand the system behavior and dominant modes. Both models are compared to each other and to an independently developed finite-element model to validate the modeling approach.","abstract_html":"NASA’s Asteroid Redirect Robotic Mission (ARRM) aims to pick up a boulder from the surface of a large asteroid and transport it to a distant retrograde orbit around the Moon for future exploration by a manned mission. This thesis presents a detailed analysis of the dynamic modeling of the ARRM spacecraft grasping the boulder. This model is used for three-axis attitude control design and simulation of the system. This thesis presents a 30 degree-of-freedom nonlinear lumped-mass model for the structural dynamics of the spacecraft-boulder system. This model is derived using the Euler-Lagrange formulation and simulated in the Matlab-Simulink environment. Another model is derived using Kane’s formulation and SD/FAST, a software package dedicated to deriving dynamic models. Both models are linearized numerically about an equilibrium point. The frequency domain analysis of these linearized models is presented to understand the system behavior and dominant modes. Both models are compared to each other and to an independently developed finite-element model to validate the modeling approach.","abstract_has_math":false,"creators":["Saxena, Ayush ASaxena"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Aerospace Engineering","degree_department":null,"school":null,"contributors":["Chung, Soon-Jo"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2017,"date_issued":"2017-03-01T15:49:28Z","date_published":"2017-03-01T15:49:28Z","updated_at":"2026-07-22T22:26:37Z","subjects":["Dynamics","Modeling","National aeronautics and space administration (NASA)","Asteroid redirect robotic mission (ARRM)","Asteroid","Euler","Lagrange"],"languages":["en"],"rights":["Copyright 2016 Ayush Saxena"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/95399","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Chung, Soon-Jo"]},{"key":"dc:creator","label":"Author","values":["Saxena, Ayush ASaxena"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2017-03-01T15:49:28Z","2016-12-07","2016-12"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Aerospace Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Dynamics","Modeling","National aeronautics and space administration (NASA)","Asteroid redirect robotic mission (ARRM)","Asteroid","Euler","Lagrange"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2016 Ayush Saxena"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/95399"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["NASA’s Asteroid Redirect Robotic Mission (ARRM) aims to pick up a boulder from the surface of a large asteroid and transport it to a distant retrograde orbit around the Moon for future exploration by a manned mission. This thesis presents a detailed analysis of the dynamic modeling of the ARRM spacecraft grasping the boulder. This model is used for three-axis attitude control design and simulation of the system. This thesis presents a 30 degree-of-freedom nonlinear lumped-mass model for the structural dynamics of the spacecraft-boulder system. This model is derived using the Euler-Lagrange formulation and simulated in the Matlab-Simulink environment. Another model is derived using Kane’s formulation and SD/FAST, a software package dedicated to deriving dynamic models. Both models are linearized numerically about an equilibrium point. The frequency domain analysis of these linearized models is presented to understand the system behavior and dominant modes. Both models are compared to each other and to an independently developed finite-element model to validate the modeling approach.","Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2017-02-28 without embargo terms","The student, Ayush Saxena, accepted the attached license on 2016-12-07 at 12:45.","The student, Ayush Saxena, submitted this Thesis for approval on 2016-12-07 at 12:48.","This Thesis was approved for publication on 2016-12-07 at 16:07.","DSpace SAF Submission Ingestion Package generated from Vireo submission #10441 on 2017-02-28 at 14:55:24","Made available in DSpace on 2017-03-01T15:49:28Z (GMT). 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This model is used for three-axis attitude control design and simulation of the system. This thesis presents a 30 degree-of-freedom nonlinear lumped-mass model for the structural dynamics of the spacecraft-boulder system. This model is derived using the Euler-Lagrange formulation and simulated in the Matlab-Simulink environment. Another model is derived using Kane’s formulation and SD/FAST, a software package dedicated to deriving dynamic models. Both models are linearized numerically about an equilibrium point. The frequency domain analysis of these linearized models is presented to understand the system behavior and dominant modes. Both models are compared to each other and to an independently developed finite-element model to validate the modeling approach.","Submission original under an indefinite embargo labeled 'Open Access'. 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