To verify the tasks of one of the Space Station manipulator, the Canadian Space Agency is developing a hardware-in-the-loop simulation system. A hydraulic robot manipulating mockup of the space payload reproduces the contact forces occurring during insertion and extraction. The control law allowing a good performance requires a very accurate torque tracking for the hydraulic robot. With good force sensing in the hydraulic cylinder the torque control can be achieved in constraint motion but not in free motion. A controller using a feedforward term to compensate the velocity related effect is presented and tested experimentally. It is shown that this controller achieves very good results both in free motion and in a constrained task.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Emulation of a space robot using a hydraulic manipulator on ground


    Contributors:
    Zhu, W.H. (author) / Piedboeuf, J.C. (author) / Gonthier, Y. (author)


    Publication date :

    2002


    Size :

    6 Seiten, 14 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Estimated Force Emulation for Space Robot Using Neural Networks

    Jun, Z. / Sun, Z. / Sun, F. et al. | British Library Conference Proceedings | 2000


    Mobile manipulator robot: omni 3 wheels manipulator robot

    Mestiri, Youssef | BASE | 2022

    Free access

    ROBOT MANIPULATOR

    NESMIYANOV IVAN ALEKSEEVICH / NIKOLAEV MAKSIM EVGENEVICH / VOROBEVA NATALYA SERGEEVNA et al. | European Patent Office | 2019

    Free access

    Spacecraft Proximity Operation Emulation Using Ground Robotic Systems

    Majji, Manoranjan / Davis, Jeremy / Doebbler, James et al. | AIAA | 2010


    Telerobotic Manipulator Developments for Ground-Based Space Research

    J. N. Herndon / S. M. Babcock / P. L. Butler et al. | NTIS | 1988