Introduction
Hardware-in-the-loop (HIL) space robot simulator
HIL simulator
Slave system
Master system
Development of virtual environment and control law
Operation scenario
Control law
Control law of slave arm
Virtual arm
Virtual environment
Verification experiments
Validity of HIL simulation
Mass [kg] | Inertia [kgm\(^2\)] |
---|---|
500 | diag [7.47 7.60 7.61] |
3000 | diag [44.82 45.61 45.64] |
\({\varvec{K}}_v\)
| diag [80/1000 80/1000 80/1000 0 0 0] |
\({\varvec{K}}_s\)
| diag [1/1400 1/1400 1/1400 0 0 0] |
\({\varvec{D}}\)
| diag [0.3 0.3 0.3 0 0 0] |
\({\varvec{K}}_t\)
| diag [746,000 746000 746,000 0 0 0] |
\({\varvec{D}}_t\)
| diag [1000 1000 1000 0 0 0] |
Comparison of the results with and without force feedback
HIL simulation of massive-payload manipulation
Scenario of experiments
Mass [kg] | Inertia [kgm\(^2\)] |
---|---|
4500 | diag [67.22 68.42 68.46] |