Dynamics verification of free-floating space robot based on the hybrid simulation

Haitao Yang; Kui Sun; Zongwu Xie; Minghe Jin; Hong Liu

doi:10.1109/ROBIO.2014.7090685

Dynamics verification of free-floating space robot based on the hybrid simulation

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

The paper mainly validates that the dynamics characteristic of the free-floating space robot during space manipulator capturing the target satellite. The dynamics verification system adopts the hybrid simulation method, which combines the real ground hardware experiment and the software simulation. The hardware experiment component can acquire the joint driving torques, which are the inputs of the forward dynamics for space robot. The software simulation is to simulate the dynamics characteristic of the real space robot, which is modeled in the RT-LAB real-time environment by the Simmechanics Toolbox. The dynamics verification experiment can acquire the attitude disturbance of the free-floating base and the joint angles during space manipulator capturing the target with the visual servoing.

Original language	English
Title of host publication	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2327-2332
Number of pages	6
ISBN (Electronic)	9781479973965
DOIs	https://doi.org/10.1109/ROBIO.2014.7090685
State	Published - 20 Apr 2014
Event	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 - Bali, Indonesia Duration: 5 Dec 2014 → 10 Dec 2014

Publication series

Name	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

Conference

Conference	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Country/Territory	Indonesia
City	Bali
Period	5/12/14 → 10/12/14

Access to Document

10.1109/ROBIO.2014.7090685

Cite this

Yang, H., Sun, K., Xie, Z., Jin, M., & Liu, H. (2014). Dynamics verification of free-floating space robot based on the hybrid simulation. In 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 (pp. 2327-2332). Article 7090685 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2014.7090685

Yang, Haitao ; Sun, Kui ; Xie, Zongwu et al. / Dynamics verification of free-floating space robot based on the hybrid simulation. 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 2327-2332 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014).

@inproceedings{ea8ac062e1f74075b65db0127cab28e0,

title = "Dynamics verification of free-floating space robot based on the hybrid simulation",

abstract = "The paper mainly validates that the dynamics characteristic of the free-floating space robot during space manipulator capturing the target satellite. The dynamics verification system adopts the hybrid simulation method, which combines the real ground hardware experiment and the software simulation. The hardware experiment component can acquire the joint driving torques, which are the inputs of the forward dynamics for space robot. The software simulation is to simulate the dynamics characteristic of the real space robot, which is modeled in the RT-LAB real-time environment by the Simmechanics Toolbox. The dynamics verification experiment can acquire the attitude disturbance of the free-floating base and the joint angles during space manipulator capturing the target with the visual servoing.",

author = "Haitao Yang and Kui Sun and Zongwu Xie and Minghe Jin and Hong Liu",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 ; Conference date: 05-12-2014 Through 10-12-2014",

year = "2014",

month = apr,

day = "20",

doi = "10.1109/ROBIO.2014.7090685",

language = "英语",

series = "2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "2327--2332",

booktitle = "2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014",

address = "美国",

}

Yang, H, Sun, K , Xie, Z , Jin, M & Liu, H 2014, Dynamics verification of free-floating space robot based on the hybrid simulation. in 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014., 7090685, 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, Institute of Electrical and Electronics Engineers Inc., pp. 2327-2332, 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, Bali, Indonesia, 5/12/14. https://doi.org/10.1109/ROBIO.2014.7090685

Dynamics verification of free-floating space robot based on the hybrid simulation. / Yang, Haitao; Sun, Kui ; Xie, Zongwu et al.
2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 2327-2332 7090685 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Dynamics verification of free-floating space robot based on the hybrid simulation

AU - Yang, Haitao

AU - Sun, Kui

AU - Xie, Zongwu

AU - Jin, Minghe

AU - Liu, Hong

PY - 2014/4/20

Y1 - 2014/4/20

N2 - The paper mainly validates that the dynamics characteristic of the free-floating space robot during space manipulator capturing the target satellite. The dynamics verification system adopts the hybrid simulation method, which combines the real ground hardware experiment and the software simulation. The hardware experiment component can acquire the joint driving torques, which are the inputs of the forward dynamics for space robot. The software simulation is to simulate the dynamics characteristic of the real space robot, which is modeled in the RT-LAB real-time environment by the Simmechanics Toolbox. The dynamics verification experiment can acquire the attitude disturbance of the free-floating base and the joint angles during space manipulator capturing the target with the visual servoing.

AB - The paper mainly validates that the dynamics characteristic of the free-floating space robot during space manipulator capturing the target satellite. The dynamics verification system adopts the hybrid simulation method, which combines the real ground hardware experiment and the software simulation. The hardware experiment component can acquire the joint driving torques, which are the inputs of the forward dynamics for space robot. The software simulation is to simulate the dynamics characteristic of the real space robot, which is modeled in the RT-LAB real-time environment by the Simmechanics Toolbox. The dynamics verification experiment can acquire the attitude disturbance of the free-floating base and the joint angles during space manipulator capturing the target with the visual servoing.

UR - https://www.scopus.com/pages/publications/84949928134

U2 - 10.1109/ROBIO.2014.7090685

DO - 10.1109/ROBIO.2014.7090685

M3 - 会议稿件

AN - SCOPUS:84949928134

T3 - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

SP - 2327

EP - 2332

BT - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

Y2 - 5 December 2014 through 10 December 2014

ER -

Yang H, Sun K , Xie Z , Jin M , Liu H. Dynamics verification of free-floating space robot based on the hybrid simulation. In 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 2327-2332. 7090685. (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014). doi: 10.1109/ROBIO.2014.7090685

Dynamics verification of free-floating space robot based on the hybrid simulation

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this