Motion simulation using a high-speed parallel link mechanism

Tarao, Susumu; Inohira, Eiichi; Uchiyama, Masaru

doi:10.1109/iros.2000.895199

Cited by 6 publications

(2 citation statements)

References 9 publications

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“…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 ( Dubowsky et al, 1994 ; Tarao et al, 2000 ; Yoshida, 2003 ). 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” ( Dubowsky et al, 1994 ).…”

Section: Ground Testbed Facilitiesmentioning

confidence: 99%

Robotic Manipulation and Capture in Space: A Survey

Papadopoulos

Aghili

et al. 2021

Front. Robot. AI

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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.

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Section: Ground Testbed Facilitiesmentioning

confidence: 99%

Robotic Manipulation and Capture in Space: A Survey

Papadopoulos

Aghili

et al. 2021

Front. Robot. AI

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show abstract

“…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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A New Class of Hybrid Motion Simulation Using a Very Fast Parallel Robot

Uchiyama

Tarao

Kitamura

Springer Tracts in Advanced Robotics

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Motion simulation using a high-speed parallel link mechanism

Cited by 6 publications

References 9 publications

Robotic Manipulation and Capture in Space: A Survey

Robotic Manipulation and Capture in Space: A Survey

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

A New Class of Hybrid Motion Simulation Using a Very Fast Parallel Robot

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