Validation of In-Space Servicing, Assembly, and Manufacturing Missions Using Simscape Multibody

This paper presents the simulation and validation of a generalized spacecraft and robotic platform for In-Space Servicing, Assembly, and Manufacturing (ISAM) missions. A multibody dynamics model used for simulating ISAM missions is created with a combination of Matlab scripts and Simulink modeling with the intent of modular testing of different satellite buses and manipulators. The resulting model is validated using an experimental setup using a Stewart platform and a Universal Robots manipulator, demonstrating the similar results in the base reaction forces and torques with a matched trajectory.