Date of Award
Spring 5-2017
Access Type
Thesis - Open Access
Degree Name
Master of Science in Mechanical Engineering
Department
Mechanical Engineering
Committee Chair
Iacopo Gentilini
First Committee Member
Douglas R. Isenberg
Second Committee Member
Sergey V. Drakunov
Abstract
The ability to perform experiments on space robotic systems within a laboratory setting is crucial to development and testing of satellites and space robots prior to launch. One of the most widely used techniques which recreate the on-orbit motion of space robots and targets is hardware-in-the-loop simulation. This method requires extensive knowledge of the space robot model dynamic parameters. This research proposes a method which uses force feedback to control a robotic platform on which the space robot is mounted. The robotic platform is driven in such a way that the gravity-compensated forces and torques at the mounting interface are nullified. This method requires minimal knowledge of the system model and dynamic parameters. In this thesis, simulations are performed on both two-dimensional and three-dimensional systems and experimental validation on a two-dimensional system is conducted for proof-of-concept.
Scholarly Commons Citation
Muraleedharan, Narendran, "Development of an Emulated Free-Floating Environment for On-Earth Testing of Space Robots" (2017). Doctoral Dissertations and Master's Theses. 341.
https://commons.erau.edu/edt/341
