Use of industrial robots for hardware-in-the-loop simulation of satellite rendezvous and docking

Ma, Ou; Flores-Abad, Ángel; Boge, Toralf

doi:10.1016/j.actaastro.2012.08.003

Cited by 64 publications

(32 citation statements)

References 14 publications

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“…They have, however, physical limitations 9,13 . Robotics based RvD simulators, where multi-degrees of freedom robotic arms are employed in a Hardware-in-the-Loop (HIL) system, have obvious advantages, 10,14,15 but also face known challenges such as time delays in the loop.…”

Section: Rvd Technologies Are Key To the Development Of On-mentioning

confidence: 99%

Three-dimensional modeling and time-delay stability analysis for robotics docking simulation

Sazawal

Choukroun

Benninghoff

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part G:

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Hardware-in-the-loop simulations of two interacting bodies are often accompanied by a time delay. The time delay, however small, may lead to instability in the hardware-in-the-loop system. The present work investigates the source of instability in a two spacecraft system model with a time-delayed contact force feedback. A generic compliance-device-based contact force model is proposed with elastic, viscous, and Coulomb friction effects in three dimensions. A 3D nonlinear system model with time delay is simulated, and the effect of variations in contact force model parameters is studied. The system is then linearized about a nominal state to determine the stability regions in terms of parameters of the spring-dashpot contact force model by the pole placement method. Furthermore, the stability analysis is validated for the nonlinear system by energy observation for both the stable and unstable cases.

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Section: Rvd Technologies Are Key To the Development Of On-mentioning

confidence: 99%

Three-dimensional modeling and time-delay stability analysis for robotics docking simulation

Sazawal

Choukroun

Benninghoff

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part G:

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show abstract

“…Nenchev and Yoshida [50] also addressed the contact dynamics modeling and control issues for space manipulators. Ma et al [51], developed control strategy for achieving high fidelity contact dynamics simulation of a new, robotics-based, hardware-in-theloop (HIL) rendezvous and docking simulation. They used the EPOS facility as simulation platform to validate their methodology.…”

Section: Figure 4 Virtual Manipulator (Vm) and Dynamically Equivalenmentioning

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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“…The gap between the numerical simulation and the actual application had persisted for years until the use of hardware-in-the-loop simulation (HILS) [16][17][18][19][20][21][22][23][24]. By combining the simulated system with physical hardware, the HILS realizes a full-scope simulation of integrated control system including sensors, actuators, real control units and so forth, which is difficult to achieve solely by the numerical simulator.…”

Section: Introductionmentioning

confidence: 99%

“…A HILS platform performed in [18] is used to assess the high-integrity embedded automotive control systems. In recent years, the applications of HILS platform in robotics and automotive systems have been discussed in [19,20] and [21][22][23][24], respectively. These applications illustrate the HILS can effectively reduce the risk of accidents at various stages of development: design, implementation, testing, operation, and maintenance stages.…”

Section: Introductionmentioning

confidence: 99%

Hardware-in-the-loop simulation platform for supervisory control of mineral grinding process

et al. 2016

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Use of industrial robots for hardware-in-the-loop simulation of satellite rendezvous and docking

Cited by 64 publications

References 14 publications

Three-dimensional modeling and time-delay stability analysis for robotics docking simulation

Three-dimensional modeling and time-delay stability analysis for robotics docking simulation

A Review of Robotics Technologies for On-Orbit Services

Hardware-in-the-loop simulation platform for supervisory control of mineral grinding process

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