Experimentally evaluating micro-gravity control and planning algorithms for space robotic systems on earth is difficult because gravity masks the more subtle dynamic forces which dominate in space. Previous experimental test beds for micro-gravity have been largely restricted to planar motion, or have other limitations. Recently developed is a fully spatial system called the VES which overcomes many of these problems. However, compensating for the effects of gravity with the VES is a challenge. Here, two methods of gravity compensation are presented which allow fully spatial emulation of the micro-gravity interaction between a space manipulator and its supporting structure or spacecraft. Experimental results show the effectivness of the methods.


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    Title :

    Emulating micro-gravity in laboratory studies of space robotics


    Additional title:

    Emulation von Mikro-Schwerkraft in Laborstudien von Raumfahrtrobotern


    Contributors:


    Publication date :

    1994


    Size :

    8 Seiten, 10 Bilder, 1 Tabelle, 17 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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