Hardware-in-the-loop simulation of massive-payload manipulation on orbit
| Autor: | Jaesung Yang, Atsushi Konno, Satoko Abiko, Masaru Uchiyama |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2018 |
| Předmět: |
Teleoperation
Hardware-in-the-loop simulation Virtual environment Massive object Technology Mechanical engineering and machinery TJ1-1570 Control engineering systems. Automatic machinery (General) TJ212-225 Machine design and drawing TJ227-240 Technology (General) T1-995 Industrial engineering. Management engineering T55.4-60.8 Automation T59.5 Information technology T58.5-58.64 |
| Zdroj: | ROBOMECH Journal, Vol 5, Iss 1, Pp 1-12 (2018) |
| Druh dokumentu: | article |
| ISSN: | 2197-4225 |
| DOI: | 10.1186/s40648-018-0116-8 |
| Popis: | Abstract This paper describes a hardware-in-the-loop simulation of massive-payload manipulation on orbit using a master–slave teleoperation system. The main problems in teleoperating a space robot arm from the earth to manipulate a massive payload are communication delay, unexpected excessive force generated between the slave arm and the payload, and geometric/dynamic modeling error. In order to overcome those problems, a teleoperation system using mixed force and motion commands is discussed. The teleoperation system is verified by performing hardware-in-the-loop simulations. |
| Databáze: | Directory of Open Access Journals |
| Externí odkaz: |
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