Control of industrial robots for hardware-in-the-loop simulation of satellite docking

Ma, Ou; Zebenay, Melak; Boge, Toralf

doi:10.1117/12.886185

Cited by 8 publications

(8 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This work, continuing earlier efforts reported by Ma et al 8 and Zebenay et al, 7,9 presents an analytical and experimental investigation that verifies and validates the proposed hybrid concept for contact in one dimension. The main contributions are the stability analysis and the extensive experimental results.…”

Section: Introductionsupporting

confidence: 83%

Analytical and experimental stability investigation of a hardware-in-the-loop satellite docking simulator

Zebenay

Boge

Krenn

et al. 2014

Proceedings of the Institution of Mechanical Engineers, Part G:

View full text Add to dashboard Cite

The European Proximity Operation Simulator (EPOS) of the DLR-German Aerospace Center is a robotics-based simulator that aims at validating and verifying a satellite docking phase. The generic concept features a robotics tracking system working in closed loop with a force/torque feedback signal. Inherent delays in the tracking system combined with typical high stiffness at contact challenge the stability of the closed-loop system. The proposed concept of operations is hybrid: the feedback signal is a superposition of a measured value and of a virtual value that can be tuned in order to guarantee a desired behavior. This paper is concerned with an analytical study of the system's closed-loop stability, and with an experimental validation of the hybrid concept of operations in one dimension (1D). The robotics simulator is modeled as a second-order loop-delay system and closed-form expressions for the critical delay and associated frequency are derived as a function of the satellites' mass and the contact dynamics stiffness and damping parameters. A numerical illustration sheds light on the impact of the parameters on the stability regions. A first-order Pade approximation provides additional means of stability investigation. Experiments were performed and tests results are described for varying values of the mass and the damping coefficients. The empirical determination of instability is based on the coefficient of restitution and on the observed energy. There is a very good agreement between the critical damping values predicted by the analysis and observed during the tests. The contact duration shows also a very good fit between analysis and experiment. In addition, results from a 1D contact experiment carried on an air-floating testbed are successfully emulated using the proposed hybrid docking simulator. This illustrates the flexibility of the hybrid simulator, where various contact dynamics can be emulated without changing any hardware elements.

show abstract

Section: Introductionsupporting

confidence: 83%

Analytical and experimental stability investigation of a hardware-in-the-loop satellite docking simulator

Zebenay

Boge

Krenn

et al. 2014

Proceedings of the Institution of Mechanical Engineers, Part G:

View full text Add to dashboard Cite

show abstract

“…Making the system actively actuated and controlled has the advantage of compensating the joint friction torques. However, an active simulation platform must use a sophisticated control strategy to guarantee the natural impedance of the tested payload when the payload encounters physical interaction with an external system such as in a capture or docking operation scenario [12]. A passive simulation system does not have such an issue.…”

Section: A Prototype For Demonstrationmentioning

confidence: 99%

A New Technology for Physically Simulating 3D Free Floating and Rotating of an Object in Zero-Gravity Environment

Ruble

2013

AIAA Modeling and Simulation Technologies (MST) Conference

Self Cite

View full text Add to dashboard Cite

This paper presents a novel simulation technology for physically simulating an object to freely float and/or rotate in 3D space. The simulation technology compensates the gravity effect in all the 6 degrees of freedom (DOFs) using springs and a multi-DOF mechanism, which keeps the potential energy of the entire system unchanged for all the configurations within the workspace of the mechanism. A simulation platform designed based on the technology is a passive mechanical system and thus, such a device is inexpensive, reliable, and very easy to use and maintain. A hardware prototype of such a zero-gravity simulation platform has been designed, built and tested. It has shown that a satellite mockup on the platform can freely float and tumble freely in all three axes for a very long time just as it would do in orbit. If the system is scaled up, it can be used to test free floating and tumbling of a satellite or another space object in 3D space for scientific studies or engineering tests of various on-orbit service technologies such as tracking, estimating, rendezvousing and docking, robotic capturing, or other service tasks. It can also be equipped with actuators for testing propulsion and attitude control techniques.

show abstract

“…The second-order equation of the mass-spring-damping model can be expressed as the following equation (Ma et al, 2011):…”

Section: Admittance Control Of Ground Experiments Systemmentioning

confidence: 99%

Development of ground experiment system for space end-effector capturing the floating target in 3-dimensional space

Yang

Xie

Sun

et al. 2015

Industrial Robot: An International Journal

View full text Add to dashboard Cite

If you would like to write for this, or any other Emerald publication, then please use our Emerald for Authors service information about how to choose which publication to write for and submission guidelines are available for all. Please visit www.emeraldinsight.com/authors for more information. About Emerald www.emeraldinsight.comEmerald is a global publisher linking research and practice to the benefit of society. The company manages a portfolio of more than 290 journals and over 2,350 books and book series volumes, as well as providing an extensive range of online products and additional customer resources and services.Emerald is both COUNTER 4 and TRANSFER compliant. The organization is a partner of the Committee on Publication Ethics (COPE) and also works with Portico and the LOCKSS initiative for digital archive preservation. AbstractPurpose -The purpose of this paper is to develop a set of ground experiment system to verify the basic functions of space effector and the capturing reliability of space end-effector for the free-floating target payload in the three-dimensional space. The development of ground experiment system for space end-effector is essential and significant, because it costs too much to launch a space robot or other spacecraft and carry out operation tasks in space. Owing to the negligible gravity in space, which is different from that in the ground environment, ground experiment system for space end-effector should have the capability of verifying the basic functions of space effector and the reliability of space end-effector in capturing the free-floating target payload in space. Design/methodology/approach -The ground experiment system for space end-effector mainly adopts the hybrid simulation method, which includes the real hardware experiment and software simulation. To emulate the micro-gravity environment, the contact dynamics simulator is applied to emulating the motion state of the free-floating target payload, while the admittance control is used to realize the "soft" capturing of space end-effector to simulate the real situation in space. Findings -With the gravity compensation, the influence of gravity is almost eliminated and the results meet the requirements of the experiment. In the ground experiment, the admittance control is effective and the actual motion state of space end-effector capturing the target in space can be simulated. The experiment results show that space end-effector can capture the free-floating target payload successfully and hopefully have the ability to capture a free-floating target in space. Originality/value -The system can verify space end-effector capturing the free-floating target payload in three-dimensional space and imitate the motion of space end-effector capturing the free-floating target in space. The system can also be modified and improved for application in the verification of space robot capturing and docking the target, which is valuable for the ground verification of space applications.

show abstract

Control of industrial robots for hardware-in-the-loop simulation of satellite docking

Cited by 8 publications

References 0 publications

Analytical and experimental stability investigation of a hardware-in-the-loop satellite docking simulator

Analytical and experimental stability investigation of a hardware-in-the-loop satellite docking simulator

A New Technology for Physically Simulating 3D Free Floating and Rotating of an Object in Zero-Gravity Environment

Development of ground experiment system for space end-effector capturing the floating target in 3-dimensional space

Contact Info

Product

Resources

About