High Fidelity Distributed Hardware-in-the-Loop Simulation For Space Robot on CAN-based Network

Abstract

The cost and risks associated with the execution of robotics tasks in space require that all procedures be verified on Earth prior to their execution. The DLR-HIT Joint Robotics Lab is responsible for the verification of all the tasks of space manipulator of the Chinese free-flight robot space satellite system. We are currently developing the free-flight robot task verification facility (FTVF) through a hardware-in-the-loop way. It consists of a series of simulation and analysis tools to be used for verifying the kinematics (clearance, interface reach, degrees of freedom), dynamics (computed torque, flexibility), visual accessibility (ability to see the work site) and computation power (control period). This paper presents both theoretical and experimental study on the control of a free-flying robot manipulator for space application. The goal of the study is to develop a new control method and hardware-in-the-loop simulation system for target capturing with vision sensor in micro-gravity space environment, considering the dynamical interaction between the space robot and its mobile satellite base. Finally experimental results demonstrate the effect of the simulation system