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

Jaesung Yang, Atsushi Konno, Satoko Abiko, Masaru Uchiyama

Research output: Contribution to journalArticle

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

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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

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