| Popis: |
Recently, The Land, Air and Space Robotics (LASR) Laboratory has demonstrated a state-of-the-art proximity operations testbed that will revolutionize the concept of portable space systems simulation. The Holonomic Omni-directional Motion Emulation Robot (HOMER) permits innite, un-tethered circumnavigations of one object by another. The redundant drive wheels with o-set castor design enables the platform to rotate and translate independently allowing a true, high delity simulation platform ideal for satellite operations. The inertial sensing systems at the LASR Laboratory allow for position and orientation measurements of rigid bodies within the workspace. To allow this platform to operate at the desired performance, an appropriate implementation of feedback control is critical. Before implementing the controller on the hardware, it is necessary to explore the sensitivity of the reference tracking when several combinations of errors are introduced to the system including latency, noise, and errors in mass and moment of inertia estimates. |
