Abstract
As the space environment is difficult to be recreated on the earth, it is essential to develop a software toolkit to validate the parameters designing for space robots. In this paper, a toolkit addressed for dynamic control rapid prototype simulation system of the space robot was presented. Based on the real-time control technology, the toolkit was consisted of real-time dynamic computing, redundant dual-arm control system, visual imaging and measurement and teleoperation. Specifically, the collision problem involved in the manipulator end effector and the target could be analyzed by contact dynamics models in the real-time dynamic computing module. Furthermore, a peg-in-hole (multi cores) assembly experiment involving the disassembly for the space electrical connectors was carried out, which was adopted to evaluate the simulation effect of toolkit. Our results showed that the connection between the space plug and socket with multi cores was well built up in the simulation environment. Moreover, the toolkit can be used to make simulations of on orbit operational missions by multiple of human-computer interaction, which is the key for the evaluation of control algorithm applied on the space robot.
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Acknowledgement
This research was supported by the National Key Research and Development Program of China under Grant No. 2018YFF0216004 and the National Natural Science Foundation of China with Grant No.11772188.
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Li, N., Ma, X., Zhang, C., Zou, H., Li, F. (2021). Toolkit for Dynamic Control Rapid Prototype Simulation System of Robots Applied in Space Experimental Cabin. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13016. Springer, Cham. https://doi.org/10.1007/978-3-030-89092-6_38
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DOI: https://doi.org/10.1007/978-3-030-89092-6_38
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