Emulation of Space Robot Through Hardware-in-the-Loop Simulation

摘要

As a partner in the International Space Station (ISS), Canada is responsible for the verification of all tasks involving the Special Purpose Dextrous Manipulator (SPDM). The verification is done in three stages: pure real-time simulation, hardware-in-the-loop simulation and non real-time simulation. The second stage refines the analysis of the contact portion of the task (e.g., insertion) using a real robot. This component is the main addition to existing facilities. In previous publications the STVF concept and the proposed controller used for the hardware-in-theloop sequence have been thoroughly discussed. This paper concentrates on the design and the development of the STVF Manipulator test-bed and on the implementation of the hardware-in-the-loop control on the robot.