DocumentCode :
2870578
Title :
High Fidelity Distributed Hardware-in-the-Loop Simulation For Space Robot
Author :
Wei, R. ; Jin, M.H. ; Xia, J.J. ; Xie, Z.W. ; Shi, J.X. ; Liu, H.
Author_Institution :
Robot Res. Inst., Harbin Inst. of Technol.
fYear :
2006
fDate :
25-28 June 2006
Firstpage :
2150
Lastpage :
2155
Abstract :
The cost and risks associated with the execution of robotics tasks in space require that all procedures be verified on Earth prior to their execution. The DLR-HIT Joint Robotics Lab is responsible for the verification of all the tasks of space manipulator of the Chinese free-flight robot space satellite system. We are currently developing the free-flight robot task verification facility (FTVF) through a hardware-in-the-loop way. It consists of a series of simulation and analysis tools to be used for verifying the kinematics (clearance, interface reach, degrees of freedom), dynamics (computed torque, flexibility), visual accessibility (ability to see the work site) and computation power (control period). This paper presents both theoretical and experimental study on the control of a free-flying robot manipulator for space application. The goal of the study is to develop a new control method and hardware-in-the-loop simulation system for target capturing with vision sensor in micro-gravity space environment, considering the dynamical interaction between the space robot and its mobile satellite base. Finally experimental results demonstrate the effect of the simulation system
Keywords :
aerospace robotics; artificial satellites; control engineering computing; distributed control; manipulators; Chinese free-flight robot space satellite system; distributed hardware-in-the-loop simulation; free-flight robot task verification facility; space manipulator; Analytical models; Computational modeling; Computer interfaces; Costs; Earth; Kinematics; Manipulator dynamics; Orbital robotics; Robot sensing systems; Satellites; Hardware-In-the-Loop; Space Robot;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Luoyang, Henan
Print_ISBN :
1-4244-0465-7
Electronic_ISBN :
1-4244-0466-5
Type :
conf
DOI :
10.1109/ICMA.2006.257626
Filename :
4026430
Link To Document :
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