Robotics-Based Hardware-in-the-Loop Ground Test Facility for Dynamics and Control of Capturing Space Target

基于机器人技术的硬件在环地面测试设施，用于捕获空间目标的动力学和控制

• 批准号: RTI-2019-00667
• 负责人: Zhu, ZhengHong
• 金额: $ 10.93万
• 依托单位: York University
• 依托单位国家: 加拿大
• 项目类别: Research Tools and Instruments
• 财政年份: 2018
• 资助国家: 加拿大
• 起止时间: 2018-01-01 至 2019-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=669906
• 关键词: Robotics; Based; Hardware; Loop; Ground

The objective of this experimental program is to design and build a robotics-based hardware-in-the-loop (HIL) ground simulating facility to study full 6-DOF dynamics and control problems in the autonomous capture of free-floating targets by free-floating spacecraft-borne robotics. It will improve our understanding of soft-contact dynamics of two free-floating bodies in microgravity and control problems of post-capture attitude stabilization. The technology can be used for active debris removal and on-orbit serving of satellites. A thorough test and verification of the capture system and associated control laws on Earth before being launched to space is essential to mission success.******The proposed simulator consists of: (i) real-time computers that emulate dynamic responses of free-floating spacecraft-borne robotic manipulator and target based on multibody dynamics, (ii) robotic manipulators to physically deliver the computer-generated 6-DOF relative dynamic motion of the robotics and target, and (iii) mock up robotic gripper and target that contact physically to generate contact forces and torques. The hardware includes two high-bandwidth 6-DOF industrial robotic manipulators fully instrumented with force/torque sensors, one mechanical finger gripper as the end-effector, two workstations to perform real-time multibody dynamics simulation, and a camera for autonomous capture. The HIL simulator will allow us to accurately mimic the dynamic behavior of free-floating target and spacecraft-borne robotic manipulator in microgravity on Earth. This is achieved by the industrial robotics that strictly follows the 3D motion commands generated by real-time computer simulators, where the gravity effect is actively compensated. However, the contact dynamics between the gripper and target is real. Contact forces/torques will be measured and fed into the computer simulators to emulate the dynamic responses of the target and spacecraft-borne robotics in the next moment, subject to space environment and control input. This highly focused experimental program will open a new window to understand the soft-contact dynamics of free-floating spacecraft-borne robotics and target and associated control problem in multibody dynamics in microgravity. It will allow us to discover fundamental issues that may be overlooked by existing theories in normal conditions.******The simulator is essential for HQP to have a hands-on and space mission-like training environment. The proposed equipment will train 25 HQP. All HQP will be trained in multiple facets of technologies relating to multibody dynamics, control theory, mechanical design, machining and integration, electronic instrumentation, software programming, data acquisition and processing, design and implementation of a testing procedure evaluating the performance of the system, and development of operational procedures. These hands-on experiences and practical skills will make HQP more competitive in the job market.

本实验计划的目的是设计和建立一个基于机器人的半实物地面模拟设施，以研究自由漂浮的航天器载机器人自主捕获自由漂浮目标的全六自由度动力学和控制问题。这将加深我们对微重力下两个自由浮体的软接触动力学和捕获后姿态稳定控制问题的理解。该技术可用于卫星的主动碎片清除和在轨服务。在发射到太空之前，在地球上对捕获系统和相关控制规律进行彻底的测试和验证是任务成功的关键。*建议的模拟器包括：(I)实时计算机，基于多体动力学模拟自由漂浮的航天器载机器人和目标的动态响应；(Ii)机械臂，物理地提供计算机生成的机器人和目标的六自由度相对动态运动；以及(Iii)模拟机器人抓手和目标的物理接触，以产生接触力和扭矩。硬件包括两个完全装有力/力矩传感器的高带宽6自由度工业机器人机械手，一个作为末端执行器的机械手指抓取器，两个用于执行实时多体动力学仿真的工作站，以及一个用于自主捕获的摄像头。HIL模拟器将使我们能够准确地模拟地球上自由漂浮目标和航天器载机器人在微重力下的动态行为。这是由严格遵循实时计算机模拟器生成的3D运动命令的工业机器人实现的，其中重力效应被主动补偿。然而，夹持器和目标之间的接触动力学是真实的。接触力/力矩将被测量并输入计算机模拟器，以模拟目标和航天器上的机器人在下一个时刻的动态响应，取决于空间环境和控制输入。这一高度集中的实验计划将为了解自由漂浮的航天器载机器人的软接触动力学以及微重力下多体动力学中的目标和相关控制问题打开一扇新的窗口。它将允许我们发现在正常情况下可能被现有理论忽视的基本问题。*该模拟器对于总部拥有动手和类似太空任务的训练环境是必不可少的。拟议的设备将培训25名总部合格人员。所有HQP将接受与多体动力学、控制理论、机械设计、加工和集成、电子仪器、软件编程、数据采集和处理、评估系统性能的测试程序的设计和实施以及操作程序开发等多方面技术方面的培训。这些实践经验和实践技能将使HQP在就业市场上更具竞争力。