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Inertia-Decoupled Equations for Hardware-in-the-Loop Simulation of an Orbital Robot with External Forces

Mishra, Hrishik and Giordano, Alessandro Massimo and De Stefano, Marco and Lampariello, Roberto and Ott, Christian (2021) Inertia-Decoupled Equations for Hardware-in-the-Loop Simulation of an Orbital Robot with External Forces. In: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020. IEEE. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 24 Oct 2020 - 24 Jan 2021, Las Vegas, NV, USA. doi: 10.1109/IROS45743.2020.9341633. ISBN 978-172816212-6. ISSN 2153-0858.

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Official URL: https://ieeexplore.ieee.org/document/9341633

Abstract

In this paper, we propose three novel Hardware-in-the-loop simulation (HLS) methods for a fully-actuated orbital robot in the presence of external interactions using On-Ground Facility Manipulators (OGFM). In particular, a fixed-base and a vehicle-driven manipulator are considered in the analyses. The key idea is to describe the orbital robot's dynamics using the Lagrange-Poincaré(LP) equations, which reveal a block-diagonalized inertia. The resulting advantage is that noisy joint acceleration/torque measurements are avoided in the computation of the spacecraft motion due to manipulator interaction even while considering external forces. The proposed methods are a consequence of two facilitating theorems, which are proved herein. These theorems result in two actuation maps between the simulated orbital robot and the physical OGFM. The chief advantage of the proposed methods is physical consistency without level-set assumptions on the momentum map. We validate this through experiments on both types of OGFM in the presence of external forces. Finally, the effectiveness of our approach is validated through a HLS of a fully-actuated orbital robot while interacting with the environment.

Item URL in elib:https://elib.dlr.de/192899/
Document Type:Conference or Workshop Item (Speech)
Title:Inertia-Decoupled Equations for Hardware-in-the-Loop Simulation of an Orbital Robot with External Forces
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Mishra, HrishikUNSPECIFIEDhttps://orcid.org/0000-0002-5025-2447UNSPECIFIED
Giordano, Alessandro MassimoUNSPECIFIEDhttps://orcid.org/0000-0003-2291-7525UNSPECIFIED
De Stefano, MarcoUNSPECIFIEDhttps://orcid.org/0000-0003-3777-9487UNSPECIFIED
Lampariello, RobertoUNSPECIFIEDhttps://orcid.org/0000-0002-8479-2900UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:10 February 2021
Journal or Publication Title:2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI:10.1109/IROS45743.2020.9341633
Publisher:IEEE
ISSN:2153-0858
ISBN:978-172816212-6
Status:Published
Keywords:inertia-decoupled equations
Event Title:2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Las Vegas, NV, USA
Event Type:international Conference
Event Dates:24 Oct 2020 - 24 Jan 2021
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - On-Orbit Servicing [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Strobl, Dr. Klaus H.
Deposited On:23 Dec 2022 11:24
Last Modified:23 Dec 2022 11:24

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