Hybrid Simulator for Space Docking and Robotic Proximity Operations

TL;DR

This paper introduces a hybrid simulation approach for space docking and robotic proximity operations that emulates target robot behavior using an actual robot, simplifying contact dynamics calculations and enabling flexible robot verification.

Contribution

The work presents a novel hybrid simulation methodology that emulates diverse robot types in complex environments without complex contact dynamics calculations.

Findings

Dynamical similarity achieved through a specialized control law.

Analysis of disturbances and actuator effects on emulation fidelity.

Validation of the approach for flexible space robot task verification.

Abstract

In this work, we present a hybrid simulator for space docking and robotic proximity operations methodology. This methodology also allows for the emulation of a target robot operating in a complex environment by using an actual robot. The emulation scheme aims to replicate the dynamic behavior of the target robot interacting with the environment, without dealing with a complex calculation of the contact dynamics. This method forms a basis for the task verification of a flexible space robot. The actual emulating robot is structurally rigid, while the target robot can represent any class of robots, e.g., flexible, redundant, or space robots. Although the emulating robot is not dynamically equivalent to the target robot, the dynamical similarity can be achieved by using a control law developed herein. The effect of disturbances and actuator dynamics on the fidelity and the contact stability of the robot emulation is thoroughly analyzed.