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Hardware-in-the-loop Simulation of Massive-payload Manipulation on Orbit

Penelitian - Space robotic manipulators such as Shuttle Remote Manipulation System (SRMS) and Space Station Remote Manipulator System (SSRMS) have played a vital role in satellite orbit injection and construction of the International Space Station.

These space robots have been operated by astronauts on-site. However, if such manipulation can be performed by teleoperating the space robot from the earth, there is no need to send astronauts to space, which is attractive from both safety and financial consideration.

Penelitian Hardware-in-the-loop Simulation of Massive-payload Manipulation on Orbit

Satellites or modules of space structures have huge mass compared to the robot arm. Astronauts must be very careful when operating the robot arm not to generate excessive force between the end effector of the robot arm and the massive payload being manipulated, especially when starting and stopping the movement.

Jaesung Yang of the Hokkaido University and colleagues describes a hardware-in-the-loop simulation of massive-payload manipulation on orbit using a master–slave teleoperation system.

The main problems in teleoperating a space robot arm from the earth to manipulate a massive payload are communication delay, unexpected excessive force generated between the slave arm and the payload, and geometric/dynamic modeling error.

In order to overcome those problems, a teleoperation system using mixed force and motion commands is discussed. The teleoperation system is verified by performing hardware-in-the-loop simulations.

Yang said the proposal for a modified version of model-based teleoperation using mixed force and motion commands and the parallel-robot-based HILS of the massive payload manipulation. The proposed method deals with force scaling.



In force scaling, mitigation of excessive force at the remote site will be the key issue, because the operator’s commands are scaled-up at the remote site, and there is a serious communication delay. The mitigation of generated force at the remote site using the proposed method was verified by performing HIL simulations.

Journal : Jaesung Yang et al. Hardware-in-the-loop simulation of massive-payload manipulation on orbit, ROBOMECH, 31 August 2018, DOI:10.1186/s40648-018-0116-8

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