European Proximity Operations Simulator 2.0 (EPOS) - A Robotic-Based Rendezvous and Docking Simulator

Heike Benninghoff, Florian Rems, Eicke-Alexander Risse, Christian Mietner


The European Proximity Operations Simulator (EPOS) 2.0 located at the German Space Operations Center (GSOC) in Oberpfaffenhofen, Germany, is a robotic based test facility of the German Aerospace Center (DLR) used for simulation of rendezvous and docking (RvD) processes. Hardware such as rendezvous sensors (cameras, laser scanners) or docking tools, as well as software (e.g. for navigation and control) can be tested and verified. The facility consists of two robotic manipulators with each six degrees of freedom, a linear slide of 25m length on which one robot can be moved in the laboratory, and a computer-based monitoring and control system. EPOS 2.0 allows for real-time simulations of the rendezvous and docking process during the most critical phase (separation from 25m to 0m) of proximity and docking/berthing operations.


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Cite article as: DLR Space Operations and Astronaut Training. (2017). EPOS 2.0 RvD Simulator. Journal of large-scale research facilities, 3, A107.




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