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Proceedings Paper

Dynamics of a robotics-based hardware-in-the-loop simulator for verifying microgravity contact dynamics
Author(s): Xiumin Diao; Ou Ma; Michael Liu
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Paper Abstract

This paper presents the concept of a cable-manipulator based 6-DOF hardware-in-the-loop (HIL) dynamics simulation system for testing and verification of microgravity contact-dynamics behavior of a space system. It then focuses on the inverse dynamics problem of the 6-DOF cable-driven manipulator which is designed for the simulation system. Accurate modeling and solution of the inverse dynamics is a key requirement for the control and high-fidelity performance of the complex simulation system. The inverse dynamics problem is solved completely under the basic operational conditions of a cable manipulator - all the cables must be always in tension for any possible end-effector motion of the manipulator. It is the first time that a systematic method of determining whether or not the inverse dynamics problem has a solution is proposed with full mathematical proof. Based upon this proven method, two numerical examples are presented to demonstrate the inverse dynamics solution of a 6-DOF cable manipulator. The study results support the feasibility of using such a manipulator for hardware-in-the-loop simulation of microgravity contact-dynamics.

Paper Details

Date Published: 31 May 2006
PDF: 12 pages
Proc. SPIE 6221, Modeling, Simulation, and Verification of Space-based Systems III, 622104 (31 May 2006); doi: 10.1117/12.665245
Show Author Affiliations
Xiumin Diao, New Mexico State Univ. (United States)
Ou Ma, New Mexico State Univ. (United States)
Michael Liu, MDA Space Missions (Canada)


Published in SPIE Proceedings Vol. 6221:
Modeling, Simulation, and Verification of Space-based Systems III
Pejmun Motaghedi, Editor(s)

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