Title :
Role of estimation in real-time contact dynamics enhancement of space station engineering facility
Author :
Ananthakrishnan, S. ; Teders, K. ; Alder, K.
Author_Institution :
McDonnell Douglas Aerosp., USA
fDate :
9/1/1996 12:00:00 AM
Abstract :
A prediction-based feedforward filter has been developed to make a ground-based hydraulic simulator generate contact forces and rebound velocities that match those expected during Shuttle on-orbit berthing operations
Keywords :
aerospace computing; aerospace simulation; filtering theory; manipulator dynamics; mechanical contact; real-time systems; simulation; space vehicles; Space Shuttle; Stewart platform; contact dynamics enhancement; contact forces; hydraulic simulator; parallel manipulators; prediction-based feedforward filter; real-time systems; rebound velocity; space station; Computational modeling; Feedforward systems; Filters; Leg; Manipulator dynamics; Orbital robotics; Reluctance motors; Robotics and automation; Space stations; Vehicle dynamics;
Journal_Title :
Robotics & Automation Magazine, IEEE
