Emulation of a space robot using a hydraulic manipulator on ground

Zhu, Wen Hong; Piedbœuf, Jean-Claude; Gonthier, Y.

doi:10.1109/robot.2002.1013577

Cited by 19 publications

(9 citation statements)

References 10 publications

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“…The experiments are carried out with the Special Purpose Dexterous Manipulator (SPDM) Task Verification Facility (STVF) manipulator [45], [46] at the Canadian Space Agency (CSA). The STVF manipulator is a very stiff, 6-DOF hydraulic robot shown in Fig.…”

Section: Stvf Experimentsmentioning

confidence: 99%

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Identification of Contact Dynamics Parameters for Stiff Robotic Payloads

et al. 2009

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This paper investigates and demonstrates the feasibility of identifying contact dynamics parameters for stiff robotic payloads using a robotic system. The contact dynamics model for stiff payloads is motivated, and theoretical parameter values and bounds are provided. Then, the effect of nonidealities such as surface roughness and plastic deformation on the theoretical values is demonstrated. A row-wise-scaled total least-squares parameter estimation algorithm is proposed and applied to experimental data measured using the Special Purpose Dexterous Manipulator Task Verification Facility manipulator at the Canadian Space Agency. The experimental results are compared to a separate set of experiments with a material testing machine as well as finite-element modeling results. Finally, the experimental findings are generalized by providing guidelines for the maximum identifiable payload stiffness as a function of the position resolution, the maximum exertable force, and the structural stiffness of the robotic system.

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Section: Stvf Experimentsmentioning

confidence: 99%

“…The STVF manipulator is a very stiff, 6-DOF hydraulic robot shown in Fig. 2, which is used as a hardware-in-the-loop simulator for validation of space operations [45], [46].…”

Section: Stvf Experimentsmentioning

confidence: 99%

Identification of Contact Dynamics Parameters for Stiff Robotic Payloads

et al. 2009

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“…It will also be used for the development and verification of the robot's operation procedures, crew and ground personnel training, and mission analysis. 3,4 The facility is currently in the final integration and test phase and will be delivered in late 2003. The STVF is an integrated space-representative robotic simulation facility combining both software-and hardware- simulations.…”

Section: • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • •mentioning

confidence: 99%

“…The loop between the softwareand hardware-simulations is closed by feeding the physically measured contact forces into the software-simulator. 3,4 The concept of hardware-in-the-loop simulation has been developed and applied in studies of dynamic performance of space systems in the recent years. NASA built a pilot-in-the-loop facility to investigate the berthing of Space Shuttle into the Space Station by the Shuttle Remote Manipulator System (Canadarm).…”

Section: • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • •mentioning

confidence: 99%

On the Validation of SPDM Task Verification Facility

Wang

Misra

et al. 2004

J. Robotic Syst.

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This paper describes a methodology for validating a ground-based, hardware-in-theloop, space-robot simulation facility. This facility, called ''SPDM task verification facility,'' is being developed by the Canadian Space Agency for the purpose of verifying the contact dynamics performance of the special purpose dexterous manipulator (SPDM) performing various maintenance tasks on the International Space Station because the real SPDM cannot be physically tested for 3D operations on the ground due to the gravity. The facility uses a high-fidelity SPDM mathematical model, known as the ''truth model'' of the space robot, to drive a hydraulic robot to mimic the space robot performing contact operations. In this research different techniques were studied for practically verifying that the complex simulation facility preserves the dynamics of the truth model of the space robot for space-representative contact robotic tasks. Based upon the study and many years of experience in developing and verifying space robotic systems, a practical validation strategy including detailed test cases was developed along with a set of quantitative criteria for judging the validation test results.

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“…Επίσης, τα σερβοϋδραυλικά συστήµατα έχουν αρχίσει να χρησιµοποιούνται τα τελευταία χρόνια ευρέως και σε άλλα πεδία, όπως πχ. σε διαστηµικές εφαρµογές [327], στην ιατρική [117], [176] κά. Έλεγχος ηλεκτροϋδραυλικών σερβοσυστηµάτων.…”

Section: Bιβλιογραφική Aνασκόπησηunclassified

Έλεγχος μηχανισμού Stewart με υδραυλικές οδηγήσεις βασισμένος στη δυναμική

Davliakos¹,

Νταβλιάκος²

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Emulation of a space robot using a hydraulic manipulator on ground

Cited by 19 publications

References 10 publications

Identification of Contact Dynamics Parameters for Stiff Robotic Payloads

Identification of Contact Dynamics Parameters for Stiff Robotic Payloads

On the Validation of SPDM Task Verification Facility

Έλεγχος μηχανισμού Stewart με υδραυλικές οδηγήσεις βασισμένος στη δυναμική

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