Free-Flying Robot 3D Simulator Validation by Means of Air-Bearings Table 2D Tests
- Paper number
IAC-05-C2.1.B.06
- Author
Dr. Silvio Cocuzza, CISAS G. Colombo Center of Studies and Activities for Space, University of Padova, Italy
- Coauthor
Mr. Alessio Aboudan, Italy
- Coauthor
Mr. Carlo Bettanini, CISAS G. Colombo Center of Studies and Activities for Space, University of Padova, Italy
- Coauthor
Mr. Andrea Bulgarelli, CISAS G. Colombo Center of Studies and Activities for Space, University of Padova, Italy
- Coauthor
Prof. Carlo Menon, Simon Fraser University, Canada
- Coauthor
Mr. Mirco Zaccariotto, CISAS G. Colombo Center of Studies and Activities for Space, University of Padova, Italy
- Coauthor
Prof. Francesco Angrilli, University of Padova, Italy
- Year
2005
- Abstract
Space robotics has nowadays an important role in space operations and is expected to increase its importance in Space Servicing missions and in Extra Vehicular Activities (EVA). Free-flying robots, which are characterized by a floating base controlled by means of thrusters, could be profitably used for surveillance, inspection, and handling operations. In EVA robots can substitute astronauts avoiding them to be injured by charged particles, solar flares or debris. The reproduction of the space microgravity environment for the effective on-ground testing of a 3D free-flying robot before employing it in a space mission is a real challenge. Such a challenging issue can be tackled by means of three kinds of test-bed: active or passive tethered suspension systems, parabolic flight tests and underwater environment experiments. This paper present a different approach. First the robot is tested in a planar manoeuvre by means of an air-bearings table test-bed and then the data are used to validate a fully 3D software dynamic simulator. The validation of the dynamic simulator is performed comparing forces and torques transmitted to ground to those from the simulator. The measurements are performed by means of a custom built micro dynamometer. Other issues which have been assessed by means of the planar tests are the estimate of robot inertial parameters, the accuracy and repeatability of the end-effector movements, and the friction and backlash of each joint. The robot used is a 3D free-flying robot which has been tested on ESA parabolic flights. This 3D robot has been converted in a 2D robot by simply rotating one link taking advantage of the robot modularity. An air-bearings table facility has been used to perform the planar tests. After that the simulator has been fully validated, simulations of any 3D manoeuvre in a microgravity environment can be performed. The data retrieved from ESA parabolic flight experiments has been compared to those of the validated simulator in order to verify its functionality in a 3D manoeuvre.
- Abstract document
- Manuscript document
IAC-05-C2.1.B.06.pdf (🔒 authorized access only).
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