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

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

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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

Cite this

Yang, J., Konno, A., Abiko, S., & Uchiyama, M. (2018). Hardware-in-the-loop simulation of massive-payload manipulation on orbit. ROBOMECH Journal, 5(1), [19]. https://doi.org/10.1186/s40648-018-0116-8

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10.1186/s40648-018-0116-8