The contact process of a space docking device needs verification before launching. The verification cannot only rely on the software simulation since the contact dynamic models are not accurate enough yet, especially when the geometric shape of the device is complex. Hardware-in-the-loop simulation is a choice to perform the ground test, where the contact dynamic model is replaced by a real device and the real contact occurs. However, the Hardware-in-the-loop simulation suffers from energy increase and instability since time delay is unavoidable. The existing delay compensation methods are mainly focused on a uniaxial or three-dimensional contact. In this paper, a force-based delay compensation method is proposed for the hardware-in-the-loop simulation of a six degree-of-freedom space contact. A six degree-of-freedom dynamic model of the spacecraft motion is derived, and a six degree-of-freedom delay compensation method is proposed. The delay is divided into track delay and measurement delay, which are compensated individually. Experiment results show that the proposed delay compensation method is effective for the six degree-of-freedom space contact.
GarafoloNGSawyerSD. Prediction of the permeation performance of a candidate space docking seal. J Spacecraft Rockets2014; 51: 614–623.
2.
Zhang L, Ma S, Li B, et al. Position-sensing based a new docking system of RPRS. In: 8th Control, automation, robotics and vision conference, Kunming, China, December 2004, pp.278–282.
3.
Rubenstein M, Payne K, Will P, et al. Docking among independent and autonomous CONRO self-reconfigurable robots. In: 2004 IEEE international conference on robotics and automation, New Orleans, LA, USA, April 2004, pp.2877–2882.
4.
Kasai T, Oda M and Suzuki T. Results of the ETS-7 mission, rendezvous docking and space robotics experiments. In: 5th International symposium on artificial intelligence, robotics and automation in space, Noordwijk, the Netherlands, June 1999, pp.299–306.
5.
XuWLiangBXuY. Survey of modeling, planning, and ground verification of space robotic systems. Acta Astronaut2011; 68: 1629–1649.
6.
MachadoMMoreiraPFloresPet al.Compliant contact force models in multibody dynamics: evolution of the Hertz contact theory. Mech Mach Theor2012; 53: 99–121.
7.
GilardiGSharfI. Literature survey of contact dynamics modelling. Mech Mach Theory2002; 37: 1213–1239.
De CarufelJMartinEPiedboeufJC. Control strategies for hardware-in-the-loop simulation of flexible space robots. IEE Proc Contr Theor Appl2000; 147: 569–579.
12.
Aghili F and Piedboeuf JC. Contact dynamics emulation for hardware-in-loop simulation of robots interacting with environment. In: 2002 IEEE international conference on robotics and automation, Washington DC, USA, May 2002, pp.523–529.
13.
Piedboeuf JC, Aghili F, Doyon M, et al. Emulation of space robot through hardware-in-the-loop simulation. In: The 6th international symposium on artificial intelligence and robotics & automation in space, Quebec, Canada, June 2001.
14.
Aghili F and Piedboeuf JC. Hardware-in-loop simulation of robots interacting with environment via algebraic differential equation. In: 2000 IEEE/RSJ international conference on intelligent robots and systems, Takamatsu, Japan, November 2000, pp.1590–1596.
15.
Aghili F, Dupuis E, Piedboeuf JC, et al. Hardware-in-the-loop simulation of robots performing contact tasks. In: The 5th international symposium on artificial intelligence and robotics & automation in space, Noordwijk, the Netherlands, June 1999, pp.583–588.
16.
Lange C, Martin E, Piedboeuf JC, et al. Towards docking emulation using hardware-in-the-loop simulation with parallel platforms. In: Proceedings of fundamental issues and future research directions for parallel mechanisms and manipulators, Quebec City, Canada, October 2002, pp.244–247.
17.
AghiliFPiedboeufJC. Emulation of robots interacting with environment. IEEE ASME Trans Mechatron2006; 11: 35–46.
18.
Aghili F, Dupuis E, Martin E, et al. Force/moment accommodation control for tele-operated manipulators performing contact tasks in stiff environment. In: 2001 IEEE/RSJ international conference on intelligent robots and systems, Maui, HI, USA, November 2001, pp.2227–2233.
19.
Piedboeuf JC, De Carufel J, Aghili F, et al. Task verification facility for the Canadian special purpose dextrous manipulator. In: 1999 IEEE international conference on robotics and automation, Detroit, MI, USA, May 1999, pp.1077–1083.
20.
AnanthakrishnanSTedersKAlderK. Role of estimation in real-time contact dynamics enhancement of space station engineering facility. IEEE Robot Autom Mag1996; 3: 20–28.
21.
Chang T, Cong D, Ye Z, et al. Time problems in HIL simulation for on-orbit docking and compensation. In: 2nd IEEE Conference on Industrial Electronics and Applications, Harbin, China, May 2007, pp.841–846.
22.
Qiu Y, Guo B, Liang B, et al. Hardware-in-loop simulation of autonomous relative navigation for noncooperative spacecraft. In: 2nd international symposium on systems and control in aerospace and astronautics, Shenzhen, China, December 2008, pp.1–6.
23.
Chang T, Cong D, Ye Z, et al. A new procedural for the integration of the HIL simulation system for on-orbit docking. In: 2007 IEEE international conference on integration technology, Shenzhen, China, March 2007, pp.769–773.
24.
Chang TL, Cong DC, Ye ZM, et al. Interface issues in hardware-in-the-loop simulation for spacecraft on-orbit docking. In: 2007 IEEE international conference on control and automation, Guangzhou, China, May 2007, pp.2584–2590.
25.
HuangQJiangHZZhangSYet al.Spacecraft docking simulation using hardware-in-the-loop simulator with Stewart platform. Chin J Mech Eng2005; 18: 415–418.
26.
OsakiKKonnoAUchiyamaM. Delay time compensation for a hybrid simulator. Adv Robot2010; 24: 1081–1098.
27.
Satake Y, Abiko S, Jiang X, et al. Accuracy improvement of delay time compensation based on the coefficient of restitution for a hybrid simulator. In: 2012 IEEE/RSJ international conference on intelligent robots and systems, Vilamoura, Portugal, October 2012, pp.5046–5051.
28.
AbikoSSatakeYJiangXet al.Delay time compensation based on coefficient of restitution for collision hybrid motion simulator. Adv Robot2014; 28: 1177–1188.
29.
CaoRGaoFZhangYet al.A key point dimensional design method of a 6-DOF parallel manipulator for a given workspace. Mech Mach Theor2015; 85: 1–13.
30.
KrennRSchaeferB. Limitations of hardware-in-the-loop simulations of space robotics dynamics using industrial robots. ESA J1999; 440: 681–686. .
31.
Zebenay M, Boge T and Choukroun D. Modeling, stability analysis, and testing of a hybrid docking simulator. In: 2013 AIAA guidance navigation and control conference, Boston, MA, USA, August 2013.
32.
Bacic M and Daniel R. Towards a low-cost hardware-in-the-loop simulator for free flight simulation of unmanned air vehicles. In: 2005 AIAA modeling and simulation technologies conference and exhibit, San Francisco, CA, USA, August 2005.
