Robotics-Based Hardware-in-the-Loop Ground Test Facility for Dynamics and Control of Capturing Space Target

基于机器人技术的硬件在环地面测试设施，用于捕获空间目标的动力学和控制

• 批准号: RTI-2019-00667
• 负责人: Zhu, ZhengHong
• 金额: $ 10.93万
• 依托单位: York University
• 依托单位国家: 加拿大
• 项目类别: Research Tools and Instruments
• 财政年份: 2018
• 资助国家: 加拿大
• 起止时间: 2018-01-01 至 2019-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=669906
• 关键词: Robotics; Based; Hardware; Loop; Ground

The objective of this experimental program is to design and build a robotics-based hardware-in-the-loop (HIL) ground simulating facility to study full 6-DOF dynamics and control problems in the autonomous capture of free-floating targets by free-floating spacecraft-borne robotics. It will improve our understanding of soft-contact dynamics of two free-floating bodies in microgravity and control problems of post-capture attitude stabilization. The technology can be used for active debris removal and on-orbit serving of satellites. A thorough test and verification of the capture system and associated control laws on Earth before being launched to space is essential to mission success.******The proposed simulator consists of: (i) real-time computers that emulate dynamic responses of free-floating spacecraft-borne robotic manipulator and target based on multibody dynamics, (ii) robotic manipulators to physically deliver the computer-generated 6-DOF relative dynamic motion of the robotics and target, and (iii) mock up robotic gripper and target that contact physically to generate contact forces and torques. The hardware includes two high-bandwidth 6-DOF industrial robotic manipulators fully instrumented with force/torque sensors, one mechanical finger gripper as the end-effector, two workstations to perform real-time multibody dynamics simulation, and a camera for autonomous capture. The HIL simulator will allow us to accurately mimic the dynamic behavior of free-floating target and spacecraft-borne robotic manipulator in microgravity on Earth. This is achieved by the industrial robotics that strictly follows the 3D motion commands generated by real-time computer simulators, where the gravity effect is actively compensated. However, the contact dynamics between the gripper and target is real. Contact forces/torques will be measured and fed into the computer simulators to emulate the dynamic responses of the target and spacecraft-borne robotics in the next moment, subject to space environment and control input. This highly focused experimental program will open a new window to understand the soft-contact dynamics of free-floating spacecraft-borne robotics and target and associated control problem in multibody dynamics in microgravity. It will allow us to discover fundamental issues that may be overlooked by existing theories in normal conditions.******The simulator is essential for HQP to have a hands-on and space mission-like training environment. The proposed equipment will train 25 HQP. All HQP will be trained in multiple facets of technologies relating to multibody dynamics, control theory, mechanical design, machining and integration, electronic instrumentation, software programming, data acquisition and processing, design and implementation of a testing procedure evaluating the performance of the system, and development of operational procedures. These hands-on experiences and practical skills will make HQP more competitive in the job market.

该实验计划的目的是设计和构建基于机器人技术的硬件（HIL）地面模拟设施，以通过自由地捕获自由浮动的飞船 - 生产机器人技术来研究完整的6-DOF动态和控制问题。这将提高我们对微重力自由浮动物体的软接触动力学的理解，并控制捕获后态度稳定的问题。该技术可用于清除碎屑和卫星的轨道份量。在发射到太空之前，对捕获系统和相关控制法的彻底测试和验证对于任务成功至关重要。目标，（iii）模拟机器人抓手，并靶向物理接触以产生接触力和扭矩。该硬件包括两个高带宽的6-DOF工业机器人操纵器，该机器人操纵器完全带有力/扭矩传感器，一个机械手指抓手作为最终效应器，两个工作站进行实时多体动力学模拟，以及用于自动捕获的相机。 HIL模拟器将使我们能够准确地模仿地球微重力中自由浮动目标和航天器机器人机器人操纵器的动态行为。这是由严格遵循由实时计算机模拟器生成的3D运动命令的工业机器人技术实现的，该命令在该机器人中产生了重力效应。但是，抓地力和目标之间的接触动态是真实的。接触力/扭矩将测量并馈入计算机模拟器中，以模仿下一刻的目标和航天器 - 播种机器人的动态响应，但要取决于空间环境和控制输入。这个高度重点的实验程序将打开一个新窗口，以了解自由浮动的航天器机器人技术的软接触动力学以及微重力多体动力学中的目标和相关控制问题。这将使我们能够发现在正常条件下现有理论可能忽略的基本问题。******模拟器对于HQP具有动手和太空任务式培训环境至关重要。拟议的设备将训练25 HQP。所有HQP将接受与多体动态，控制理论，机械设计，加工和集成，电子仪器，软件编程，数据采集和处理，测试程序的设计和实施，评估系统性能以及运营程序开发的测试程序的设计和实施。这些动手经验和实践技能将使HQP在就业市场上更具竞争力。