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Abstract
One of the most challenging and risky missions for
spacecraft is to perform Rendezvous and Docking (RvD)
autonomously in space. To ensure a safe and reliable operation,
such a mission must be carefully designed and thoroughly
verified before a real space mission can be launched. This
paper describes a new, robotics-based, hardware-in-the-loop
RvD simulation facility which uses two industrial robots to
simulate the 6-DOF dynamic maneuvering of the docking
satellites. The facility is capable of physically simulating the
final approaching within 25-meter range and the entire
docking/capturing process in a satellite on-orbit servicing
mission. The paper briefly discusses the difficulties of using
industrial robots for HIL contact dynamics simulation and how
these problems are solved.
I. INTRODUCTION
Robot 1
KUKA KA240
X [m]
Y [m]
Z [m]
Roll [deg]
Pitch [deg]
Yaw [deg]
-2,5 -+2,5
-1,0 -+4,0
-0,5 -+1,5
-300 -+300
-90 -+90
-90 -+90
-2,5 -+24,5
-2,5 -+2,5
-0,5 -+1,2
-300 -+300
-90 -+90
-90 -+90
Translational [m/s]
Rotational [deg/s]
2
180
2
180
250
250
Cartesian commands
Cartesian commands
Satellites
motion
Target
Mockup
Rv-Sensors/
Docking interface
RvD operation commands
Robot-2 motion
information
Robot-1 motion
information
Joint motion feedback
Kuka Robot-2
Controller
Visual feedback
Kuka Robot-1
Controller
Visual feedback
6-DOF Kuka
Robot 1
25 meter
Docking command
fR
x S x S
x, x
x, x
x R x R
q, q
x S x S , xS
x R x R
x, x
q, q
f r = M r x r + C r x r + K r x r
6
(2)
[5]
[6]
[7]
[8]
[9]
[10]
[11]
[12]
[13]
[14]
[15]