2D Microgravity Test-Bed for the Validation of Space Robot Control Algorithms

Oleś, Jakub; Kindracki, Jan; Rybus, Tomasz; Mężyk, Łukasz; Paszkiewicz, Przemysław; Moczydłowski, Radosław; Barciński, Tomasz; Seweryn, K.; Wolański, P.

doi:10.14313/jamris_2-2017/21

Cited by 6 publications

(2 citation statements)

References 25 publications

(36 reference statements)

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“…We present the identi ication of lexible joint of the space manipulator based on experiments performed in emulated microgravity environment using dedicated test-bed operated by the Space Research Centre of the Polish Academy of Sciences (CBK PAN) [36,37].…”

Section: Description Of the Test-bed And Performed Experimentsmentioning

confidence: 99%

Parameter Identification of Space Manipulator's Flexible Joint

Wojtunik,

Basmadji,

Granosik

et al. 2024

JAMRIS

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It is considered to use a manipulator mounted on a satellite in order to perform active debris removal missions. Space manipulator control system needs to take the dynamic model of the satellite-manipulator system into account because of the influence of the manipulator motion on the position and attitude of the satellite. Therefore, precise modelling of the space manipulator dynamics as well as parameter identification are needed in order to improve the credibility of the simulation tools. In this paper we presented the identification of the flexible-joint space manipulator model based on dynamic equations of motion. Experiments were performed in emulated microgravity environment using planar air bearings. The arbitrarily selected joint-space trajectory was performed by the manipulator’s control system. The experiments were repeated multiple times in order to analyze the identification method sensitivity. The identification is based on Simulink SimMechanics model. Thus, the procedure can be used for any space manipulator without the need of obtaining analytical relations for dynamic equations each time. Including joint flexibility and spring viscous damping in the dynamic model allowed to reflect the experimental measurements better than the reference model could. Identified parameters of the flexible joint have values of the same magnitude as corresponding real system parameters.

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Section: Description Of the Test-bed And Performed Experimentsmentioning

confidence: 99%

Parameter Identification of Space Manipulator's Flexible Joint

Wojtunik,

Basmadji,

Granosik

et al. 2024

JAMRIS

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“…National Technical University of Athens (NTUA) has a floating platform, namely NTUA space robot simulator, which is 14 kg [15]. The floating platform of the Space Research Centre of the Polish Academy of Sciences is 66 kg [16]. German Aerospace Center's (DLR) floating platform is 50 kg [17].…”

Section: State Of the Art A Design And Materialsmentioning

confidence: 99%

Lightweight Floating Platform for Ground-Based Emulation of On-Orbit Scenarios

Yalçın,

Martinez,

Coloma

et al. 2023

IEEE Access

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Orbital space operations must be executed safely and reliably to prevent unwanted failures. One way to validate these operations on Earth is by using testbed facilities that emulate zero-gravity conditions. This article presents the design and evaluation of a novel lightweight floating platform. The contributions are three-fold; the mechanical structure made from additive manufacturing using carbon-fiber material; the software packages, which are based on Robot Operating System (ROS); and the floating platform's position controller, created using disturbance rejection-based convex optimization method to suppress ground-induced mechanical disturbances and ensure stability. Two types of experiments are conducted in the multi-purpose Zero-G Lab facility of the SnT-University of Luxembourg to validate the performance of the floating platform, 1-Position control (single platform); 2-Emulation of an on-orbit cooperative docking scenario (two platforms). Results validate the use of the floating platform for emulating on-orbit scenarios. Optimized in the frequency domain, the proposed controller gives satisfying results for both disturbance rejection and set-point tracking purposes. The link to the Open-source ROS packages is available in the Appendix-B section.

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