Study on a Numerical Simulation of a Manipulator Task Verification Facility System

Liu, Qian; Xiao, Xuan; Mou, Fangli; Wu, Shuang; Ma, Wei; Hu, Chengwei

doi:10.1109/icma.2018.8484524

Cited by 2 publications

(6 citation statements)

References 9 publications

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“…It turns out that this goal can be achieved though closed-loop impedance matching of the two robots so that the ground-based simulating manipulator can generate contact forces and transitional impact which closely match those expected from SPDM during on-orbit operations (Ma et al, 2004;Aghili and Piedboeuf, 2000;. (Liu, et al, 2018).…”

Section: Space Manipulator Task Verification Facilitiesmentioning

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: Ground Testbed Facilitiesmentioning

confidence: 99%

“…FIGURE 6 | (A) SPDM Task Verification Facility (CSA), (B) Capturing task at the OOS-SIM facility (DLR). (C) Manipulator Test and Verification Facility (MTVF) developed by China Academy of Space Technology(Liu, et al, 2018).…”

mentioning

confidence: 99%

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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: Space Manipulator Task Verification Facilitiesmentioning

confidence: 99%

Section: Ground Testbed Facilitiesmentioning

confidence: 99%

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Robotic Manipulation and Capture in Space: A Survey

Papadopoulos

Aghili

et al. 2021

Front. Robot. AI

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“…This formula indicates the movement speed of the robot at time t can be calculated by integrating the force and angular velocity information collected before time t. Among them, the load force/torque information at the end of the robot can be obtained in real time from the aforementioned force sensing method, and then the speed of the load movement is calculated by formula (7), and the zero-gravity motion of the load can be realized by driving the robot to move as the speed.…”

Section: Zero Gravity Motion Simulationmentioning

confidence: 99%

“…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]. Accurate force sensing is the premise of accurate motion simulation [8].…”

Section: Introductionmentioning

confidence: 99%

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

Meng

Zhang

et al. 2021

Preprint

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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.

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Study on a Numerical Simulation of a Manipulator Task Verification Facility System

Cited by 2 publications

References 9 publications

Robotic Manipulation and Capture in Space: A Survey

Robotic Manipulation and Capture in Space: A Survey

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

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