Ground Robotic Platform for Simulation of On-Orbit Servicing Missions
Ground Robotic Platform for Simulation of On-Orbit Servicing Missions
- Neue Suche nach: Chhabra, Anirudh
- Neue Suche nach: Kim, Donghoon
- Neue Suche nach: Chhabra, Anirudh
- Neue Suche nach: Kim, Donghoon
Autonomous on-orbit servicing missions require high precision because any unwanted contact forces can cause damage to space systems. This makes the on-ground hardware-in-the-loop simulations necessary as operations must be thoroughly evaluated before such missions are carried out in space. A robotic platform is proposed, where a 3-degree-of-freedom (3-DOF) robotic arm is placed atop a 6-DOF Stewart platform. A mathematical model is developed for the resulting 9-DOF redundant manipulator, and the corresponding dynamics are modeled and verified. Simulation studies are conducted using a constrained and singularity-robust pseudo-inverse control scheme, and the system’s capability to follow a scaled-down orbital trajectory is tested. The results are presented, and the future implications of this study are discussed.
Dokumentinformationen
Ground Robotic Platform for Simulation of On-Orbit Servicing Missions
Journal of Aerospace Information Systems ; 19 , 7 ; 480-493
2022-03-10
14 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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