The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지
DOI QR코드

DOI QR Code

Admittance Control for Satellite Docking Ground Testing System

위성 도킹 지상시험장치의 어드미턴스 제어

  • Heejin Woo (Department of Electrical and Electronic Engineering, Hanyang University) ;
  • Youngjin Choi (Department of Electrical and Electronic Engineering, Hanyang University) ;
  • Daehee Won (Robotics R&D Department, Korea Institute of Industrial Technology)
  • Received : 2023.10.10
  • Accepted : 2024.01.03
  • Published : 2024.02.29
Download PDF
⟨ Previous Next ⟩

Abstract

The paper presents a hardware-in-the-loop (HIL) system designed for satellite movement testing in the microgravity environment on the ground with two industrial robots. Especially, the paper deals with the contact between satellites during rendezvous and docking simulations of satellites using a robotic HILS system. For this purpose, the admittance control method plays a core role in preventing damage to the satellite or robot from contact force between satellites. The coordinate frames are transformed into the mass center of the satellite and the admittance control at the level of exponential coordinates is adopted to actively use the properties of Lie groups related to tracking errors. These methods effectively mitigate the risk of robot damage during inter-satellite contact and ensure efficient tracking performance of satellite movements.

Keywords

Acknowledgement

This work was supported by the Institute of Civil Military Technology Cooperation funded by the Defense Acquisition Program Administration and Ministry of Trade, Industry and Energy of Korean government under grant No. UM22318RD3, South Korea

References

  1. K. E. Glover, "Development of a large support surface for an air-bearing type zero-gravity simulator," no. NASA Technical Memorandum X-72780, 1976, [Online], https://ntrs.nasa.gov/api/citations/19760019162/downloads/19760019162.pdf. 
  2. W. Xu, B. Liang, and Y. Xu, "Survey of modeling, planning, and ground verification of space robotic systems," Acta Astronautica, vol. 68, no. 11-12, pp. 1629-1649, Jun.-Jul., 2011, DOI: 10.1016/j.actaastro.2010.12.004. 
  3. O. Ma, A. F. Abad, and T. Boge, "Using industrial robots for hardware-in-The-loop simulation of spacecraft rendezvous and docking," Acta Astronautica, vol. 81, no. 1, pp. 335-347, Dec., 2012, DOI: 10.1016/j.actaastro.2012.08.003. 
  4. L. S. Rao, P. S. Rao, I. M. Chhabra, and L. S. Kumar, "Modeling and Compensation of Time-Delay Effects in HILS of Aerospace Systems," IETE Technical Review, vol. 39, no. 2, pp. 375-388, Dec., 2020, DOI: 10.1080/02564602.2020.1862713. 
  5. T. Boge, H. Frei, and T. Tzschichholz, "Hardware-in-the-loop rendezvous simulation using a vision based sensor," International ESA Conference on Guidance, Navigation and Control Systems, 2011, [Online], https://elib.dlr.de/74406/. 
  6. A. Mueller, "Modern Robotics: Mechanics, Planning, and Control [Bookshelf]," IEEE Control Systems Magazine, vol. 39, no. 6, pp. 100-102, Dec., 2019, DOI: 10.1109/MCS.2019.2937265. 
  7. A. Iserles, H. Z. Munthe-Kaas, S. P. Norsett, and A. Zanna, "Lie-group methods," Acta Numerica, vol. 9, pp. 215-365, Jan., 2000, DOI: 10.1017/S0962492900002154. 
  8. F. Gao, C. Qi, A. Ren, X. Zhao, R. Cao, Q.Sun, Q. Wang, Y. Hu, J. He, Z. Jin, R. Liu, Y. Zhang, W. Guo, Z. Hu, P. Tang, B. Ni, Q. Jing, W. Wang, and P. Gao, "Hardware-in-the-loop simulation for the contact dynamic process of flying objects in space," Science China Technological Sciences, vol. 59, pp. 1167-1175, Jul., 2016, DOI: 10.1007/s11431-016-6075-5.