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A New Contact Dynamics Model Tool for Hardware-In-The-Loop Docking Simulation

Zebenay, Melak and Lampariello, Roberto and Boge, Toralf and Choukroun, Daniel (2012) A New Contact Dynamics Model Tool for Hardware-In-The-Loop Docking Simulation. I-SAIRAS - International Symposium on Artificial Intelligence, Robotics and Automation in Space, 4.-6. Sept. 2012, Turin, Italien.

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Abstract

One of the goals of performing a hardware-in-the-loop (HIL) simulation at the European Proximity Operation simulator (EPOS 2.0) is to simulate on-orbit docking for verification and validation of the docking phase. However, this closed-loop docking simulation is influenced by the response time delay of the EPOS 2.0 controllers and by the high stiffness of the EPOS 2.0 robots. The high stiffness causes an unrealistic high impact force which puts the safety of the facility at risk and increases the position error in the docking simulator. In addition, the controller time delay destabilizes the HIL simulation by adding energy to the system. The paper presents a new contact dynamics model tool the development of which is based on a combination of a passive and active compliance and that can be used for analysis in a hybrid simulation. This method is validated experimentally using the EPOS 2.0 facility and a standard contact dynamics model. In addition, this paper presents the effect of parameters like time delay, stiffness, damping and mass on the stability of the HIL simulation, both analytically and experimentally.

Item URL in elib:https://elib.dlr.de/80030/
Document Type:Conference or Workshop Item (Paper)
Title:A New Contact Dynamics Model Tool for Hardware-In-The-Loop Docking Simulation
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Zebenay, MelakDLRUNSPECIFIED
Lampariello, RobertoDLRUNSPECIFIED
Boge, ToralfDLRUNSPECIFIED
Choukroun, DanielTU DelftUNSPECIFIED
Date:2012
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:HIL simulation, Spring-dashpot, Control Stability, Robotics
Event Title:I-SAIRAS - International Symposium on Artificial Intelligence, Robotics and Automation in Space
Event Location:Turin, Italien
Event Type:international Conference
Event Dates:4.-6. Sept. 2012
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Vorhaben On-Orbit Servicing (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Space Operations and Astronaut Training > Space Flight Technology
Deposited By: Boge, Toralf
Deposited On:07 Jan 2013 09:25
Last Modified:31 Jul 2019 19:39

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