Hardware-in-the-loop simulation of massive-payload manipulation on orbit

Jaesung Yang, Atsushi Konno, Satoko Abiko, Masaru Uchiyama

Research output: Contribution to journal › Article

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.

Original languageEnglish
Article number19
JournalROBOMECH Journal
Volume5
Issue number1
DOIs
Publication statusPublished - 2018 Dec 1

Fingerprint

hardware-in-the-loop simulation
Remote control
payloads
manipulators
Orbits
orbits
Hardware
robot arms
commands
Earth (planet)
communication
Robots
Communication

Keywords

  • Hardware-in-the-loop simulation
  • Massive object
  • Teleoperation
  • Virtual environment

ASJC Scopus subject areas

  • Modelling and Simulation
  • Instrumentation
  • Mechanical Engineering
  • Control and Optimization
  • Artificial Intelligence

Cite this

Hardware-in-the-loop simulation of massive-payload manipulation on orbit. / Yang, Jaesung; Konno, Atsushi; Abiko, Satoko; Uchiyama, Masaru.

In: ROBOMECH Journal, Vol. 5, No. 1, 19, 01.12.2018.

Research output: Contribution to journal › Article

Yang, J, Konno, A, Abiko, S & Uchiyama, M 2018, 'Hardware-in-the-loop simulation of massive-payload manipulation on orbit', ROBOMECH Journal, vol. 5, no. 1, 19. https://doi.org/10.1186/s40648-018-0116-8
Yang J, Konno A, Abiko S, Uchiyama M. Hardware-in-the-loop simulation of massive-payload manipulation on orbit. ROBOMECH Journal. 2018 Dec 1;5(1). 19. https://doi.org/10.1186/s40648-018-0116-8
Yang, Jaesung ; Konno, Atsushi ; Abiko, Satoko ; Uchiyama, Masaru. / Hardware-in-the-loop simulation of massive-payload manipulation on orbit. In: ROBOMECH Journal. 2018 ; Vol. 5, No. 1.
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