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Romansy 14 pp 213-229 | Cite as

Dynamic Emulation of Space Robot in One-g Environment using Hardware-in-the-Loop Simulation

  • J.-C. Piedbœuf
  • F. Aghili
  • M. Doyon
  • E. Martin
Part of the International Centre for Mechanical Sciences book series (CISM, volume 438)

Abstract

To verify all robotic tasks involving a space robot interacting with environment, such as the Special Purpose Dexterous Manipulator (SPDM), 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 creates difficulties due to complexity of the physical phenomenon involved during the interaction. In this work we develop an hardware-in-loop simulation (HLS) technique, where a simulation of the space robot dynamics is combined with emulation of the contact dynamics by using a rigid robot prototype performing 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. Simulation and experimental results given from implementation on a six degrees of freedom manipulator are presented.

Keywords

Contact Force International Space Station Space Robot Robotic Task Torque Controller 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Wien 2002

Authors and Affiliations

  • J.-C. Piedbœuf
    • 1
  • F. Aghili
    • 1
  • M. Doyon
    • 1
  • E. Martin
    • 1
  1. 1.Canadian Space AgencySt-HubertCanada

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