NEW PLANAR AIR-BEARING MICROGRAVITY SIMULATOR FOR VERIFICATION OF SPACE ROBOTICS NUMERICAL SIMULATIONS AND CONTROL ALGORITHMS
NEW PLANAR AIR-BEARING MICROGRAVITY SIMULATOR FOR VERIFICATION OF SPACE ROBOTICS NUMERICAL SIMULATIONS AND CONTROL ALGORITHMS
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用于验证空间机器人数值模拟和控制算法的新型平面空气轴承微重力模拟器
DOI：
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
R. Wawrzaszek
中科院分区：
文献类型：
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作者：
T. Rybus;Janusz Nicolau;Ski;K. Seweryn;Tomasz Barci;M. Ciesielska;K. Grassmann;J. Grygorczuk;Michal Karczewski;M. Kowalski;M. Krzewski;T. Kuci;J. Lisowski;R. Przybyła;K. Skup;T. Szewczyk;R. Wawrzaszek
自由漂浮卫星机械臂系统的控制是一项具有挑战性的任务，因为机械臂的运动影响其基座的位置和方向。在地球上很难对这种系统进行测试，因为它缺乏固定的基地。执行这些测试的一个可能的解决方案是基于平面空气轴承的应用，它提供可忽略的摩擦，并允许卫星操纵器系统在花岗岩平台上自由平面运动。本文提出了一种新型的平面空气轴承微重力模拟器，该模拟器具有独立的空气轴承支撑机械臂各环节和实验面积大的特点。给出了末端执行器沿直线运动的实验结果。
Control of a free-floating satellite-manipulator system is a challenging task, because motions of the robotic arm influence position and orientation of its base. On Earth it is difficult to perform tests of such system, as it lacks a fixed-base. One possible solution to perform these tests is based on application of planar air-bearings which provide negligible friction and allow free planar motion of the satellite-manipulator system on the granite table. This paper presents new planar air-bearing microgravity simulator which has two distinctive features: separate air-bearings supporting each link of the manipulator and large area for the experiment. Experimental results are shown, in which end-effector is moving on a straight-line trajectory.