Paper Info
Title
Inertia-Decoupled Equations for Hardware-in-the-Loop Simulation of an Orbital Robot with External Forces
Abstract
In this paper, we propose three novel Hardware-in-the-loop simulation (HLS) methods for a fully-actuated orbital robot in the presence of external interactions using On-Ground Facility Manipulators (OGFM). In particular, a fixed-base and a vehicle-driven manipulator are considered in the analyses. The key idea is to describe the orbital robot's dynamics using the Lagrange-Poincaré(LP) equations, which reveal a block-diagonalized inertia. The resulting advantage is that noisy joint acceleration/torque measurements are avoided in the computation of the spacecraft motion due to manipulator interaction even while considering external forces. The proposed methods are a consequence of two facilitating theorems, which are proved herein. These theorems result in two actuation maps between the simulated orbital robot and the physical OGFM. The chief advantage of the proposed methods is physical consistency without level-set assumptions on the momentum map. We validate this through experiments on both types of OGFM in the presence of external forces. Finally, the effectiveness of our approach is validated through a HLS of a fully-actuated orbital robot while interacting with the environment.
Year
DOI
Venue
2020
10.1109/IROS45743.2020.9341633
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Keywords
DocType
ISSN
inertia-decoupled equations,hardware-in-the-loop simulation method,HLS,fully-actuated orbital robot,vehicle-driven manipulator,block-diagonalized inertia,manipulator interaction,simulated orbital robot,physical OGFM,on-ground facility manipulators
Conference
2153-0858
ISBN
Citations 
PageRank 
978-1-7281-6213-3
0
0.34
References 
Authors
0
5
Name
Order
Citations
PageRank
Hrishik Mishra123.75
Alessandro M. Giordano201.69
Stefano De Marco348.26
Roberto Lampariello4799.97
Christian Ott51527128.37