Space manipulation robots: Hybrid modeling of their operations

This research describes Hybrid Simulating Testbed (HST) structure which is a complex designed for ground- based testing of space robots (SR) missions and ground-based training of operators of such robots. Creating such HST attracts the interest of many researchers all over the world. Comprehensive a...

Full description

Saved in:
Bibliographic Details
Main Authors: Leskov, A. G., Illarionov, V. V.
Format: Conference Proceeding
Language:English
Subjects:
Astronauts
Complexity
Industrial robots
Kinematics
Modelling
Personal computers
Robots
Space robots
Spacecraft
Test stands
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This research describes Hybrid Simulating Testbed (HST) structure which is a complex designed for ground- based testing of space robots (SR) missions and ground-based training of operators of such robots. Creating such HST attracts the interest of many researchers all over the world. Comprehensive and preliminary preparation and testing the operations in ground conditions are necessary due to the complexity and high cost of spacecraft besides the significant risks on astronauts when working in the outer space. An effective method for solving these problems is hybrid modeling of robot operations processes using physical models of spacecraft elements, SR, and operator interfaces. In this case, kinematics and dynamics of the ongoing processes are simulated by personal computers. The main feature of the described testbed is reproducing SR operations at the physical level using standard models of industrial robots.
ISSN:0094-243X
1551-7616
DOI:10.1063/5.0074730