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Integrated experimental environment for orbital robotic systems, using ground-based and free-floating manipulators

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7 Author(s)
Uyama, N. ; Dept. of Aerosp. Eng., Tohoku Univ., Sendai, Japan ; Lund, H. ; Asakimori, K. ; Ikeda, Y.
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On-ground experiment for space robotic system is essential to validate constructed robotic system prior to launch. This paper presents an integrated on-ground experimental environment for orbital robotic system. The experimental environment utilizes an air-floating testbed to realize two-dimensional micro-gravity environment on ground. As manipulation system, the constructed environment adopts a ground-based manipulator and a free-floating robot. In order to verify the emulated micro-gravity environment, two cases are tested: the impulse-momentum relationship between a ground-based manipulator and a free-floating target, and the conservation of momentum in a free-floating robot. Both results conclude the validity of the constructed experimental environment for on-ground micro-gravity emulation.

Published in:

System Integration (SII), 2010 IEEE/SICE International Symposium on

Date of Conference:

21-22 Dec. 2010