Application of the Kuka Kube Test-Bed for the Hardware-in-the-Loop Validation of the Space Manipulator Control System
Mateusz Wojtunik,
Piotr Łuczak,
Tomasz Rybus
et al.
Abstract:The on-ground validation of control systems designed for manipulators working in orbit is very difficult due to the necessity of simulating the microgravity environment on Earth. In this paper, we present the possibilities of utilising the KUKA KUBE test-bed with industrial robots to experimentally verify space systems using hardware-in-the-loop tests. The fixed-base KUKA industrial robot is operated in gravitational environment, while the space system model plant is solved in real time parallel to on-ground e… Show more
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