A HIL Simulation Facility for Task Verification of the Chinese Space Station Manipulator

Mou, Fangli; Xiao, Xuan; Zhang, Tao; Liu, Qian; Li, Daming; Hu, Chengwei; Ma, Wei

doi:10.1109/icma.2018.8484301

Cited by 4 publications

(8 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…German Aerospace Center (DLR) developed the European Proximity Operations Simulator (EPOS) to test satellite rendezvous and docking operations for the DEOS and OLEV missions (Boge and Ma, 2011). China Academy of Space Technology (CAST) developed a Manipulator Task Verification Facility to test Chinese space station manipulators on-orbit service operations (Mou et al, 2018). US Naval Research Laboratory (NRL) developed a test facility to test robotic operations for the RSGS mission (Roesler et al, 2017).…”

Section: Contact Dynamicsmentioning

confidence: 99%

“…To support the research and development of the Chinese Space Station Program, an HIL Space Manipulator Test and Verification Facility (MTVF) was developed by the China Academy of Space Technology (Mou et al, 2018;Liu et al, 2018). As shown in Figure 6C, the system consists of two large industrial robots, one physically simulating the 3D motion of the end-effector of a space manipulator or its grasped payload, and the other simulating the payload to be grasped or the worksite the grasped payload will be in contact with Ding et al (2021).…”

Section: Space Manipulator Task Verification Facilitiesmentioning

confidence: 99%

“…Although some researchers have paid attention to the importance of contact control and performed various in-orbit contact dynamics analyses since the 90s’ ( Ma, 1995 ), most control studies ignore the control of the contact force itself, as the contact dynamics is highly nonlinear and hard to model and control. Recently, hybrid impedance controllers for the capture and control of a rotating object by a free-floating space manipulator ( Wu et al, 2017 ; Mou et al, 2018a ) have been proposed.…”

Section: Feedback Controlmentioning

confidence: 99%

See 2 more Smart Citations

Robotic Manipulation and Capture in Space: A Survey

Papadopoulos

Aghili

et al. 2021

Front. Robot. AI

View full text Add to dashboard Cite

Space exploration and exploitation depend on the development of on-orbit robotic capabilities for tasks such as servicing of satellites, removing of orbital debris, or construction and maintenance of orbital assets. Manipulation and capture of objects on-orbit are key enablers for these capabilities. This survey addresses fundamental aspects of manipulation and capture, such as the dynamics of space manipulator systems (SMS), i.e., satellites equipped with manipulators, the contact dynamics between manipulator grippers/payloads and targets, and the methods for identifying properties of SMSs and their targets. Also, it presents recent work of sensing pose and system states, of motion planning for capturing a target, and of feedback control methods for SMS during motion or interaction tasks. Finally, the paper reviews major ground testing testbeds for capture operations, and several notable missions and technologies developed for capture of targets on-orbit.

show abstract

Section: Contact Dynamicsmentioning

confidence: 99%

Section: Space Manipulator Task Verification Facilitiesmentioning

confidence: 99%

Section: Feedback Controlmentioning

confidence: 99%

See 1 more Smart Citation

Robotic Manipulation and Capture in Space: A Survey

Papadopoulos

Aghili

et al. 2021

Front. Robot. AI

View full text Add to dashboard Cite

show abstract

“…HILS has been widely used for several decades, with early works on flight and missile simulations [6], [8], as well as in the automotive industry [9]. Testing of robotic systems for use in space is often done using HILS in on-ground testing facilities [10]- [12]. Typically, these facilities use a fixedbase manipulator arm to emulate an on-orbit manipulator arm, and a second arm to emulate the environment or a manipulator base.…”

Section: Introductionmentioning

confidence: 99%

Hardware-in-the-Loop Simulation of Vehicle-Manipulator Systems for Physical Interaction Tasks

Das,

Sæbø,

Pettersen

et al. 2023

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

View full text Add to dashboard Cite

Hardware-in-the-loop simulation (HILS) allows a more realistic evaluation of control approaches than what is possible with pure software simulations, but without the actual complexity of the complete system. This is important for some complex systems such as orbital robots, where testing of the system is typically not possible after its launch, and an onground replica is used to validate the performance of such a system. In this article, an impedance-matching approach is presented to match the end-effector dynamics of a fixed-base robot manipulator with that of a target vehicle-manipulator system (VMS), while taking into account the redundant nullspace dynamics in a connected real-time simulation framework. This approach ensures that the forces and torques exerted by the system on the environment matches with that of the simulated system. The contact wrenches used in our approach are not obtained from numerical simulations, but rather from real physical interaction, which is one of the main advantages of our approach. The effectiveness of our method is validated by demonstrating various physical interaction tasks with the environment, using a suspended aerial manipulator as the target system.

show abstract

“…The HIL method combines the prototype with the mathematical model, which is a semi-physical simulation method, and can be used for the ground experiment of space mechanism [3][4][5][6]. It accurately measures the force of the simulated object in real time, further calculates the motion of the object in zero gravity environment with the help of dynamic model, and then realizes the motion by the robot [7].…”

Section: Introductionmentioning

confidence: 99%

Research on Force Sensing and Zero Gravity Motion Simulation Technology of Industrial Robot

Meng

Zhang

et al. 2021

Preprint

View full text Add to dashboard Cite

Towards the zero-gravity simulation test requirements of spacecraft for on-orbit service missions, the zero-gravity motion simulation technology based on industrial robot was studied. In order to realize the accurate force sensing of load on robot, the BP neural network was used to establish the force prediction model. The model uses the robot pose, acceleration, angular velocity, and angular acceleration as input layer parameters, and uses the data from force/torque sensor on robot wrist as the output layer parameter. In order to realize the accurate force perception in whole working space of the robot, the orthogonal experiment design method was adopted to determine the path points of the robot for sample data collection. Based on the established force prediction model, the accurate force sensing of the end load of the robot under moving conditions is realized. In experiment, for the load with 100kg mass on robot, the maximum error of force sensing is 39.8N, and the root mean square error of force sensing is 9.3N. The maximum error of torque sensing is 18.7Nm, and the root mean square error of torque sensing is 4.4Nm. Furthermore, according to the real-time force sensing results of the robot load, the motion speed of the load in zero-gravity state is calculated by dynamics theory. Then the robot is driven to execute the corresponding motion of the load, and the zero gravity motion simulation of the load is realized.

show abstract

A HIL Simulation Facility for Task Verification of the Chinese Space Station Manipulator

Cited by 4 publications

References 11 publications

Robotic Manipulation and Capture in Space: A Survey

Robotic Manipulation and Capture in Space: A Survey

Hardware-in-the-Loop Simulation of Vehicle-Manipulator Systems for Physical Interaction Tasks

Research on Force Sensing and Zero Gravity Motion Simulation Technology of Industrial Robot

Contact Info

Product

Resources

About