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A new laboratory simulator for study of motion of free-floating robots relative to space targets

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4 Author(s)
S. K. Agrawal ; Dept. of Mech. Eng., Delaware Univ., Newark, DE, USA ; G. Hirzinger ; K. Landzettel ; R. Schwertassek

This paper presents detailed description of a laboratory simulator that uses two robots fixed on earth to simulate the motion of a robot in space relative to a free-flying target. This simulator is appealing because it creates an environment on earth similar to what an astronaut observes watching from the space shuttle. Therefore, it could be a valuable tool for training of astronauts on earth. Also, this simulator uses off-the-shelf industrial robots in contrast to laboratory facilities today that use special designs of robots to achieve this same task. The proposed simulator can be valuable for studying real-time motion in space and in evaluating the effectiveness of onboard sensors and control systems. The objectives of this paper are to: i) describe the laboratory setup, ii) present the computational details of this simulator, iii) estimate the computation needs of this simulator, and iv) present a computer implementation of this simulator using two KUKA robots

Published in:

IEEE Transactions on Robotics and Automation  (Volume:12 ,  Issue: 4 )