Experimental Validation of Contact Dynamics Simulation of Constrained Robotic Tasks

摘要

Dynamics simulation plays a key role in the design, verification, and operation planning of space manipulator systems because of the dif-ficulties of ground-based physical tests with large, flexible robotic systems. Modeling of contact dynamics has increasingly become an essential step in dynamics simulation of space station robotic operations (such as the assembly and maintenance of the station). This role requires the modeling tool to have very high fidelity. This paper describes a research project aimed at experimentally validat-ing a general contact dynamics simulation software developed by McDonald Dettwiler Space and Advanced Robotics Ltd (previously Spar Aerospace Ltd). The experimental tests were carried out in the robotics laboratory at the University of Victoria. The validation re-sults demonstrated that the software is capable of predicting realistic contact behavior. KEY WORDS—contact dynamics, experimental validation, constrained tasks, space robotics 1.