MDSF - A genetic development and simulation facility for flexible, complex robotic systems

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MDSF - A genetic development and simulation facility for flexible, complex robotic systems

Ou Ma / Kerman Buhariwala / Neil, Roger / MacLean, J. / Carr, R.

MSDF (Manipulator Development and Simulation Facility) system has been developed by Spar Aerospace Limited (Brampton, Ontario, Canada) as a prime contractor to the Canadian Space Agency. It is an integral part of the mobile servicing system, Canada's contribution to the International Space Station Program. With the development of MDSF, several advanced dynamics and simulation techniques have been developed, implemented, and validated. Among others, the contact dynamics model, the 3-D contact friction/stiction model, the model order reduction, the solution of kinematic constraints for flexible closed-loop topology, the parallel integration of equation sets, and the jump-back in integration time are the key techniques which have made MDSF uniquely capable of simulating general robotic systems with complex and flexible structures undergoing all kinds of tasks including payloads hand-over and contact with the environment. Rigorous validation and quality control procedures have been imposed throughout the development course. The simulator is being used to support the development, verification, and operation-planning of the space station manipulators. As a technology spin-off, the simulator or its associated techniques are also being used in other space or non-space projects.

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Document information

Title :

MDSF - A genetic development and simulation facility for flexible, complex robotic systems

Additional title:

MDSF (Manipulator Design and Simulation Facility): eine allgemeine Entwurfs- und Simulationsumgebung für flexible und komplexe Robotersysteme mit Anwendungen aus der Raumfahrttechnik

Contributors:

Ou Ma (author) / Kerman Buhariwala (author) / Neil, Roger (author) / MacLean, J. (author) / Carr, R. (author)

Published in:

Robotica ; 15 , 1 ; 49-62

Publication date :

1997

Size :

14 Seiten, 10 Bilder, 13 Quellen

ISSN :

0263-5747

DOI :

https://doi.org/10.1017/S0263574797000076