Real-time simulation of friction in a flexible space manipulator

Author

Breedveld, Paul ; Diepenbroek, Annemarie Y. ; Van Lunteren, Ton

Author_Institution

Dept. of Mech. Eng. & Marine Technol., Delft Univ. of Technol., Netherlands

fYear

1997

fDate

7-9 Jul 1997

Firstpage

999

Lastpage

1006

Abstract

This paper describes the development of a real-time simulation model of the European Robot Arm ERA that will be used on the Russian segment of the International Space Station. The simulation model contains a friction model that is not based on the conventional hypothesis that friction is opposite to velocity, but on the new hypothesis that friction tries to stop the system. The conventional hypothesis leads to a strongly non-linear friction model that causes numerical instability. The new hypothesis leads to a new friction model that simulates the effects of the friction accurately in only little computing time

Keywords

artificial satellites; digital simulation; friction; manipulator kinematics; position control; ERA; European Robot Arm; International Space Station; flexible space manipulator; friction; real-time simulation; Cameras; Control systems; Friction; Human factors; International Space Station; Manipulators; Marine technology; Orbital robotics; Robot vision systems; Space technology;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on

Conference_Location

Monterey, CA

Print_ISBN

0-7803-4160-0

Type

conf

DOI

10.1109/ICAR.1997.620303

Filename

620303