Task verification facility for the Canadian special purpose dextrous manipulator

Piedbœuf, Jean-Claude; Carufel, J. de; Aghili, Farhad; Dupuis, Érick

doi:10.1109/robot.1999.772461

Cited by 49 publications

(25 citation statements)

References 3 publications

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“…CSA developed a sophisticated HIL simulation system called STVF (SPDM Task Verification Facility), shown in Fig. 6, to simulate the dynamic behavior of the space robot SPDM performing maintenance on the ISS [218]. The simulation facility has been accepted as the formal verification tool for the acceptance of the SPDM.…”

Section: Ground Verification: Materials and Methodsmentioning

confidence: 99%

A Review of Robotics Technologies for On-Orbit Services

Flores-Abad¹,

Ma²,

Pham³

2013

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Space robotics has been considered one of the most promising approaches for on-orbit services (OOS) such as docking, berthing, refueling, repairing, upgrading, transporting, rescuing, and orbit cleanup. Many enabling techniques have been developed recently and several technology demonstration missions have been completed. Several manned servicing missions were also successfully accomplished but unmanned real servicing missions have not been done yet. All of the accomplished unmanned technology demonstration missions were designed to service perfectly known and cooperative targets only. Servicing a non-cooperative satellite in orbit by a robotic system is still an untested mission facing many technical challenges. One of the largest challenges would be how to ensure the servicing spacecraft and the robot to safely and reliably dock with or capture the target satellite and stabilizing it for subsequent servicing, especially if the serviced target is unknown regarding its motion and kinematics/dynamics properties. Obviously, further research and development of the enabling technologies are needed. To facilitate such further research and development, this paper provides a literature review of the recently developed technologies related to the kinematics, dynamics, control and verification of space robotic systems for manned and unmanned onorbit servicing missions.

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Section: Ground Verification: Materials and Methodsmentioning

confidence: 99%

A Review of Robotics Technologies for On-Orbit Services

Flores-Abad¹,

Ma²,

Pham³

2013

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“…In the field of robotics, HIL simulation is receiving growing interest from researchers, and has been applied from a number of different perspectives. These approaches include: robotin-the-loop simulations, such as the platform used for the task verification of the specialpurpose dexterous manipulator at the Canadian Space Agency (Piedboeuf et al, 1999) or the use of both real and simulated mobile robots interacting with a virtual environment (Hu, 2005); controller-in-the-loop simulations, where a real control system interacts with a computer model of the robot (Cyril et al, 2000); and joint-in-the-loop simulations, which use a computer model to compute the dynamic loads seen at each joint and then emulate those loads on the real actuators (Temeltas et al, 2002). Each of these approaches applies the HIL concept slightly differently, but all have produced positive results.…”

Section: Robot Manipulators New Achievements 226mentioning

confidence: 99%

Concurrent Engineering of Robot Manipulators

Emami¹,

Chhabra²

2010

Robot Manipulators New Achievements

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“…The experiments are carried out with the Special Purpose Dexterous Manipulator (SPDM) Task Verification Facility (STVF) manipulator [45], [46] at the Canadian Space Agency (CSA). The STVF manipulator is a very stiff, 6-DOF hydraulic robot shown in Fig.…”

Section: Stvf Experimentsmentioning

confidence: 99%

Identification of Contact Dynamics Parameters for Stiff Robotic Payloads

et al. 2009

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This paper investigates and demonstrates the feasibility of identifying contact dynamics parameters for stiff robotic payloads using a robotic system. The contact dynamics model for stiff payloads is motivated, and theoretical parameter values and bounds are provided. Then, the effect of nonidealities such as surface roughness and plastic deformation on the theoretical values is demonstrated. A row-wise-scaled total least-squares parameter estimation algorithm is proposed and applied to experimental data measured using the Special Purpose Dexterous Manipulator Task Verification Facility manipulator at the Canadian Space Agency. The experimental results are compared to a separate set of experiments with a material testing machine as well as finite-element modeling results. Finally, the experimental findings are generalized by providing guidelines for the maximum identifiable payload stiffness as a function of the position resolution, the maximum exertable force, and the structural stiffness of the robotic system.

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Task verification facility for the Canadian special purpose dextrous manipulator

Cited by 49 publications

References 3 publications

A Review of Robotics Technologies for On-Orbit Services

A Review of Robotics Technologies for On-Orbit Services

Concurrent Engineering of Robot Manipulators

Identification of Contact Dynamics Parameters for Stiff Robotic Payloads

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