Contact Dynamics Simulation for Space Robotics Applications

Abstract

Abstract—The subject of this paper are contact dynamics simulation methods for two different examples of space robotics applications: Satellite docking in GEO and rover locomotion on planetary surfaces. The according modeling techniques include contact dynamics computation a) between two polygonal surfaces according to the elastic foundation model theory and b) between digital elevation grid surfaces and point cloud surfaces with application of Bekker’s empirical terramechanics functions. The presented simulation results, which are taken from two ongoing projects, SMART-OLEV with satellite docking simulations and ExoMars with rover drawbar pull simulations, demonstrate that contact dynamics simulations can provide helpful inputs in terms of mission feasibility assessment and system design. I.