2D microgravity test-bed for the validation of space robot control algorithms

• Autorzy: Oleś J. , Kindracki J. , Rybus T. , Mężyk Ł. , Paszkiewicz P. , Moczydłowski R. , Barciński T. , Seweryn K. , Wolański P.

Identyfikatory

DOI

10.14313/JAMRIS_2-2017/21

• Języki publikacji: EN

Abstrakty

EN

The utilization of satellites equipped with robotic arms is one of the existing strategies for Active Debris Removal (ADR). Considering that the time intended for on-orbit capturing manoeuvres is strictly limited, any given space robot should possess a certain level of autonomy. This paper is about the control of on-orbit space robots and the testing of such objects in laboratory conditions. The Space Research Centre of the Polish Academy of Sciences (CBK PAN) possesses a planar air bearing microgravity simulator used for the testing of advanced control algorithms of space robots supported on air bearings. This paper presents recent upgrades to the testing facility. Firstly, the base of the space robot is now equipped with manoeuvre thrusters using compressed nitrogen and therefore allowing for position control of the entire system. Secondly, a signal from an external vision system, referencing the position and orientation of the robot’s parts is used by the control system for the closed loop control.

Słowa kluczowe

EN

space debris; Active Debris Removal; Kessler syndrome; microgravity simulator; space robot; robotic arm; manipulator; control algorithm

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2017
• Tom: Vol. 11, No. 2
• Strony: 95--104
• Opis fizyczny: Bibliogr. 44 poz., rys.

Twórcy

autor

Oleś J.

• Space Research Centre of the Polish Academy of Sciences (CBK PAN), Bartycka 18a str., 00-716 Warsaw, Poland

autor

Kindracki J.

• Institute of Heat Engineering, Warsaw University of Technology, Nowowiejska 21/25 str., 00-665 Warsaw, Poland

autor

Rybus T.

• Space Research Centre of the Polish Academy of Sciences (CBK PAN), Bartycka 18a str., 00-716 Warsaw, Poland

autor

Mężyk Ł.

• Institute of Heat Engineering, Warsaw University of Technology, Nowowiejska 21/25 str., 00-665 Warsaw, Poland

autor

Paszkiewicz P.

• Institute of Heat Engineering, Warsaw University of Technology, Nowowiejska 21/25 str., 00-665 Warsaw, Poland

autor

Moczydłowski R.

• Space Research Centre of the Polish Academy of Sciences (CBK PAN), Bartycka 18a str., 00-716 Warsaw, Poland

autor

Barciński T.

• Space Research Centre of the Polish Academy of Sciences (CBK PAN), Bartycka 18a str., 00-716 Warsaw, Poland

autor

Seweryn K.

• Space Research Centre of the Polish Academy of Sciences (CBK PAN), Bartycka 18a str., 00-716 Warsaw, Poland

autor

Wolański P.

• Institute of Heat Engineering, Warsaw University of Technology, Nowowiejska 21/25 str., 00-665 Warsaw, Poland

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Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017)