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

Jaesung Yang; Atsushi Konno; Satoko Abiko; Masaru Uchiyama

doi:10.1186/s40648-018-0116-8

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

Jaesung Yang, Atsushi Konno, Satoko Abiko, Masaru Uchiyama

Department of Electrical Engineering

Research output: Contribution to journal › Article › peer-review

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 language	English
Article number	19
Journal	ROBOMECH Journal
Volume	5
Issue number	1
DOIs	https://doi.org/10.1186/s40648-018-0116-8
Publication status	Published - 2018 Dec 1

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

Access to Document

10.1186/s40648-018-0116-8

Fingerprint Dive into the research topics of 'Hardware-in-the-loop simulation of massive-payload manipulation on orbit'. Together they form a unique fingerprint.

Cite this

@article{5e82fe02a83447c8ac464d4db67d5830,

title = "Hardware-in-the-loop simulation of massive-payload manipulation on orbit",

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.",

keywords = "Hardware-in-the-loop simulation, Massive object, Teleoperation, Virtual environment",

author = "Jaesung Yang and Atsushi Konno and Satoko Abiko and Masaru Uchiyama",

year = "2018",

month = dec,

day = "1",

doi = "10.1186/s40648-018-0116-8",

language = "English",

volume = "5",

journal = "ROBOMECH Journal",

issn = "2197-4225",

publisher = "Springer International Publishing AG",

number = "1",

}

TY - JOUR

T1 - Hardware-in-the-loop simulation of massive-payload manipulation on orbit

AU - Yang, Jaesung

AU - Konno, Atsushi

AU - Abiko, Satoko

AU - Uchiyama, Masaru

PY - 2018/12/1

Y1 - 2018/12/1

N2 - 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.

AB - 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.

KW - Hardware-in-the-loop simulation

KW - Massive object

KW - Teleoperation

KW - Virtual environment

UR - http://www.scopus.com/inward/record.url?scp=85052572042&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85052572042&partnerID=8YFLogxK

U2 - 10.1186/s40648-018-0116-8

DO - 10.1186/s40648-018-0116-8

M3 - Article

AN - SCOPUS:85052572042

VL - 5

JO - ROBOMECH Journal

JF - ROBOMECH Journal

SN - 2197-4225

IS - 1

M1 - 19

ER -