Hybrid micro-gravity simulator consisting of a high-speed parallel robot

Akima, T.; Tarao, Susumu; Uchiyama, Masaru

doi:10.1109/robot.1999.772404

Cited by 10 publications

(4 citation statements)

References 6 publications

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“…This allows for detailed measurement for accurate performance assessment of the system under the test. The concept of the HIL methodology has also been utilized for design and implementation of various laboratory testbeds to study the dynamic coupling between a space-manipulator and its host spacecraft operating in free space [11,[34][35][36][37][38][39][40][41][42][43]. A system called the Vehicle Emulation System Model II (VES II) permits the experimental evaluation of planning and control algorithm for mobile terrestrial and space robot systems by using the so-called "admittance control" [36].…”

Section: Introductionmentioning

confidence: 99%

Six-DOF Spacecraft Dynamics Simulator For Testing Translation and Attitude Control

Aghili

2022

Preprint

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This paper presents a method to control a manipulator system grasping a rigid-body payload so that the motion of the combined system in consequence of external applied forces to be the same as another free-floating rigid-body (with different inertial properties). This allows zero-g emulation of a scaled spacecraft prototype under the test in a 1-g laboratory environment. The controller consisting of motion feedback and force/moment feedback adjusts the motion of the test spacecraft so as to match that of the flight spacecraft, even if the latter has flexible appendages (such as solar panels) and the former is rigid. The stability of the overall system is analytically investigated, and the results show that the system remains stable provided that the inertial properties of two spacecraft are different and that an upperbound on the norm of the inertia ratio of the payload to manipulator is respected. Important practical issues such as calibration and sensitivity analysis to sensor noise and quantization are also presented.

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Section: Introductionmentioning

confidence: 99%

Six-DOF Spacecraft Dynamics Simulator For Testing Translation and Attitude Control

Aghili

2022

Preprint

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“…Until now, several HIL systems have been built in different countries and organizations. One of the earliest systems is Vehicle Emulation System Model II (VES II) constructed by MIT, which permits the verification of control algorithms of space robot (Durfee et al , 1991; Dubowsky et al , 1994); Tohoku University built the hybrid micro-gravity simulator and carried out various of simulations, such as impulsive motion and dual-arm operation (Akima et al , 1999; Takahashi et al , 2008); the Canadian Space Agency developed SPDM Task Verification Facility (STVF; SPDM – Special Purpose Dexterous Manipulator), and the system was used to simulate the process that the SPDM manipulated the orbital replacement units (Piedboeuf et al , 2001; Aghili and Piedboeuf, 2000; Zhu et al , 2002; Boge and Ma, 2011); European Proximity Operation Simulator system constructed by German Aerospace Center (DLR) was designed for providing test and verification of the complete RvD (Boge and Ma, 2011). Apart from these organizations, Harbin Institute of Technology (HIT) of China developed two different HIL systems in Shenzhen and Harbin, respectively, and they both work for the construction of Chinese space station (Xu et al , 2007; Yang et al , 2015a, 2015b).…”

Section: Introductionmentioning

confidence: 99%

Stability analysis and control in the process of floating-target capture with hardware-in-the-loop system

Xie

Wang

Zhang

et al. 2017

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Purpose The purpose of this paper is to develop an easily implemented and practical stabilizing strategy for the hardware-in-the-loop (HIL) system. As the status of HIL system in the ground verification experiment for space equipment keeps rising, the stability problems introduced by high stiffness of industrial robot and discretization of the system need to be solved ungently. Thus, the study of the system stability is essential and significant. Design/methodology/approach To study the system stability, a mathematical model is built on the basis of control circle. And root-locus and 3D root-locus method are applied to the model to figure out the relationship between system stability and system parameters. Findings The mathematical model works well in describing the HIL system in the process of capturing free-floating targets, and the stabilizing strategy can be adopted to improve the system dynamic characteristic which meets the needs of the practical application. Originality/value A method named 3D root-locus is extended from traditional root-locus method. And the improved method graphically displays the stability of the system under the influence of multivariable. And the strategy that stabilize the system with elastic component has a strong feasible and promotional value.

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“…As a consequence, space end-effectors mounted on space manipulators cannot directly capture the target in the three-dimensional space on the ground. To validate and test the real motion state and the capturing process of end-effectors in space, the ground test systems need to afford and allow space end-effectors to move in three-dimensional space and simulate the micro-gravity or zero-gravity environment (Akima et al, 1999;Talebpour and Namvar, 2009).…”

Section: Introductionmentioning

confidence: 99%

“…The method based on real hardware test and software simulation can satisfy with the requirements of the outer space dynamics property test and the real motion emulation on the ground with less cost. The representative test-bed based on the HIL simulation method includes the VES-II micro-gravity emulation system of MIT (Durfee et al, 1991;Dubowsky et al, 1994), SPDM Task Verification Facility of the Canadian Space Agency (Zhu et al, 2002;Ma et al, 2004), European Proximity Operation Simulator system of German Aerospace Center (Boge et al, 2010;Zebenay et al, 2013) and the hybrid simulator for orbital operations experiments of Tohuku University (Akima et al, 1999;Takahashi et al, 2008). Harbin Institute of Technology (HIT) of China also developed the ground experiment system of free-floating space robot for capturing space target based on the HIL simulation method (Wenfu et al, 2007;Xu et al, 2009;Liu et al, 2012).…”

Section: Introductionmentioning

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

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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.

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Hybrid micro-gravity simulator consisting of a high-speed parallel robot

Cited by 10 publications

References 6 publications

Six-DOF Spacecraft Dynamics Simulator For Testing Translation and Attitude Control

Six-DOF Spacecraft Dynamics Simulator For Testing Translation and Attitude Control

Stability analysis and control in the process of floating-target capture with hardware-in-the-loop system

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

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