DocumentCode :
3570206
Title :
Contact dynamics emulation for hardware-in-loop simulation of robots interacting with environment
Author :
Aghili, Farhad ; Piedboeuf, Jean-Claude
Author_Institution :
Canadian Space Agency, Saint-Hubert, Que., Canada
Volume :
1
fYear :
2002
fDate :
6/24/1905 12:00:00 AM
Firstpage :
523
Abstract :
To verify all robotic tasks involving a space robot interacting with environment, such as the special purpose dexterous manipulator, one should appeal to a simulation technique because the space robot cannot operate in an 1-g environment. However, to simulate dynamical behavior of a robot interacting with environment possess many difficulties due to complexity of the physical phenomenon involved during the interaction. In this work we develop an hardware-in-loop simulation technique, where a simulation of the space robot dynamics is combined with emulation of the contact dynamics by using a rigid robot prototype performing the contact task. The rigid robot is not dynamically or kinematically equivalent to the space robot, but it is controlled so that its endpoint dynamics replicates that of the space robot. Experimental results given from implementation of a single axis arm are presented.
Keywords :
aerospace robotics; control system CAD; dexterous manipulators; digital simulation; manipulator dynamics; contact task; dexterous manipulator; endpoint dynamics; hardware-in-loop simulation; robot dynamics; space robot; terrestrial robot; Emulation; Extraterrestrial phenomena; High level synthesis; Manipulator dynamics; Orbital robotics; Payloads; Real time systems; Robotic assembly; Robots; Vehicle dynamics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN :
0-7803-7272-7
Type :
conf
DOI :
10.1109/ROBOT.2002.1013412
Filename :
1013412
Link To Document :
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