Contact dynamics simulations for robotic servicing of Hubble Space Telescope

Wang, Jiegao; Mukherji, Raja; Ficocelli, Mariano; Ogilvie, Andrew; Rice, Craig

doi:10.1117/12.665348

Cited by 2 publications

(2 citation statements)

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“…Dq + Hq + fq = J p F p (22) where J p denotes the motion Jacobian matrix associated with contact points. The pose trajectory of the container is predicted from the initial conditions and equation (22). If the docking frame is always in the docking domain of the docking hook, then it is determined that the docking is successful.…”

Section: ) Robotic Arm-container Combined Body Contact Dynamics Modelmentioning

confidence: 99%

“…Aiming at an SRMS end-effector, Akira Tsuchihashi completed the design of a torque sensor and a positioning sensor based on a micro-stroke switch, and proposed a terminal effector docking operation strategy [20]. Jiegao Wang conducted a contact dynamics simulation of an SRMS end-effector for a robotic arm docking operation used in the maintenance of the Hubble space telescope and a derailment service robot system, and proposed an on-orbit autonomous docking strategy for a robotic system [21], [22]. Yisong Tan developed a set of devices made up of a large robotic arm end-effector for the space station, and proposed the docking strategy of a loop/contact transport module [23].…”

Section: Introductionmentioning

confidence: 99%

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Docking Strategy for a Space Station Container Docking Device Based on Adaptive Sensing

Wang

Xie

et al. 2019

IEEE Access

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A fractional-step docking strategy based on adaptive sensing is proposed for an orthogonally distributed container docking device that exhibits various characteristics, including modularization, miniaturization, extensibility, and peripheral layout. A dynamic model of a body combined with a space station container and robotic arm and a contact dynamic model between the combined body and the docking device are established to lay the foundation for the docking determination of the container in limit poses. Taking the structural and dynamic characteristics of the orthogonally distributed docking device into consideration, the actions of a diagonal double-docking hook were matched under limited working conditions. A 6-D force sensor placed at the end of the robotic arm was used to perceive the contact force of the container and the position of the docking hook, providing a basis for selecting a docking strategy. The tolerance of the docking device was analyzed when applying the docking strategy, the results of which demonstrated a much larger tolerance than that found in the synchronous docking. An orthogonally distributed docking device and an experimental platform were developed, and the tolerance of the device when using the adaptive sensing docking strategy was tested and verified. A comparison between the experiment and simulation proves the effectiveness and feasibility of the proposed adaptive sensing docking strategy.

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Section: ) Robotic Arm-container Combined Body Contact Dynamics Modelmentioning

confidence: 99%