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Parameter identification of space manipulator’s flexible joint

Wojtunik Mateusz, Basmadji Fatina Liliana, Granosik Grzegorz, Seweryn Karol

Journal of Automation Mobile Robotics and Intelligent Systems

2023

Vol. 17, No. 3

78--87

A manipulator mounted on a satellite is often used to perform active debris removal missions. The space manipulator control system needs to take the dynamic model of the satellite‐manipulator system into account because of the influence of the manipulator motion on the position and attitude of the satellite. Therefore, precise modeling of the space manipulator dynamics as well as parameter identification are needed to improve the credibility of the simulation tools. In this paper, we presented the identification of the flexible‐joint space manipulator model based on dynamic equations of motion. Experiments were performed in an emulated microgravity environment using planar air bearings. The arbitrarily selected joint‐space trajectory was performed by the manipulator’s control system. The experiments were repeated multiple times in order to analyze the identification method sensitivity. The identification is based on the Simulink SimMechanics model. Thus, the procedure can be used for any space manipulator without the need to obtain analytical relations for dynamic equations each time. Including joint flexibility and spring viscous damping in the dynamic model allowed it to reflect the experimental measurements better than the reference model could. Identified parameters of the flexible joint have values of the same magnitude as corresponding real system parameters.

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

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

Journal of Automation Mobile Robotics and Intelligent Systems

2017

Vol. 11, No. 2

95--104

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.