Ground simulation experiment verification of space robot with ADAMS and Simulink co-simulation

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

doi:10.1109/ROBIO.2013.6739852

Ground simulation experiment verification of space robot with ADAMS and Simulink co-simulation

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Contribution to conference › Paper › peer-review

2 Scopus citations

Abstract

In order to verify and test the dynamics characteristic of free-floating space robot, a hybrid dynamics simulation experiment based on hardware and software simulation is present in this paper. Firstly, a set of ground experiment system which consists of the joint electronic simulator, the central controller and dynamics simulation computer is built to simulate the motion of space manipulator and acquire the joint control torques. Then, the 3-dimensional model of space robot in the Pro/e software is imported in ADAMS software to build the simulation system. Finally, the joint control torques as inputs are adopted to simulate the motion state of space manipulator and its free-floating base in the ADAMS and Simulink co-simulation system. The simulation results demonstrate that the hybrid simulation experiment method is valid.

Original language	English
Pages	2529-2534
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2013.6739852
State	Published - 2013
Event	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen, China Duration: 12 Dec 2013 → 14 Dec 2013

Conference

Conference	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
Country/Territory	China
City	Shenzhen
Period	12/12/13 → 14/12/13

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10.1109/ROBIO.2013.6739852

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title = "Ground simulation experiment verification of space robot with ADAMS and Simulink co-simulation",

abstract = "In order to verify and test the dynamics characteristic of free-floating space robot, a hybrid dynamics simulation experiment based on hardware and software simulation is present in this paper. Firstly, a set of ground experiment system which consists of the joint electronic simulator, the central controller and dynamics simulation computer is built to simulate the motion of space manipulator and acquire the joint control torques. Then, the 3-dimensional model of space robot in the Pro/e software is imported in ADAMS software to build the simulation system. Finally, the joint control torques as inputs are adopted to simulate the motion state of space manipulator and its free-floating base in the ADAMS and Simulink co-simulation system. The simulation results demonstrate that the hybrid simulation experiment method is valid.",

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

year = "2013",

doi = "10.1109/ROBIO.2013.6739852",

language = "英语",

pages = "2529--2534",

note = "2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 ; Conference date: 12-12-2013 Through 14-12-2013",

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T1 - Ground simulation experiment verification of space robot with ADAMS and Simulink co-simulation

AU - Jin, Minghe

AU - Yang, Haitao

AU - Xie, Zongwu

AU - Sun, Kui

AU - Liu, Hong

PY - 2013

Y1 - 2013

N2 - In order to verify and test the dynamics characteristic of free-floating space robot, a hybrid dynamics simulation experiment based on hardware and software simulation is present in this paper. Firstly, a set of ground experiment system which consists of the joint electronic simulator, the central controller and dynamics simulation computer is built to simulate the motion of space manipulator and acquire the joint control torques. Then, the 3-dimensional model of space robot in the Pro/e software is imported in ADAMS software to build the simulation system. Finally, the joint control torques as inputs are adopted to simulate the motion state of space manipulator and its free-floating base in the ADAMS and Simulink co-simulation system. The simulation results demonstrate that the hybrid simulation experiment method is valid.

AB - In order to verify and test the dynamics characteristic of free-floating space robot, a hybrid dynamics simulation experiment based on hardware and software simulation is present in this paper. Firstly, a set of ground experiment system which consists of the joint electronic simulator, the central controller and dynamics simulation computer is built to simulate the motion of space manipulator and acquire the joint control torques. Then, the 3-dimensional model of space robot in the Pro/e software is imported in ADAMS software to build the simulation system. Finally, the joint control torques as inputs are adopted to simulate the motion state of space manipulator and its free-floating base in the ADAMS and Simulink co-simulation system. The simulation results demonstrate that the hybrid simulation experiment method is valid.

UR - https://www.scopus.com/pages/publications/84898792042

U2 - 10.1109/ROBIO.2013.6739852

DO - 10.1109/ROBIO.2013.6739852

M3 - 论文

AN - SCOPUS:84898792042

SP - 2529

EP - 2534

T2 - 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013

Y2 - 12 December 2013 through 14 December 2013

ER -

Ground simulation experiment verification of space robot with ADAMS and Simulink co-simulation

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