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<p>The on-ground validation of control systems designed for manipulators working in orbit is very difficult due to the necessity of simulating the microgravity environment on Earth. In this paper, we present the possibilities of utilising the KUKA KUBE test-bed with industrial robots to experimentally verify space systems using hardware-in-the-loop tests. The fixed-base KUKA industrial robot is operated in gravitational environment, while the space system model plant is solved in real time parallel to on-ground experiment. The test-bed measurements are the input of the model plant, and the output of the model is treated as an input for the industrial robot actuation. In the performed experiment, the control system based on the Dynamic Jacobian is validated. The desired point that is reached by the manipulator's end-effector is constant in the simulated environment and moving with respect to the test-bed frame. The position of the space manipulator's end-effector is calculated by evaluating dynamics of the satellite in real-time model. The results show that the control system applied to the KUKA robot works correctly. The measurements from the torque sensors mounted in KUKA robot's joints are in accordance with the simulation results. This fact enhances the possibilities of gravity compensation, thus simulating microgravity environment on the test-bed.</p>
</abstract>

The on-ground validation of control systems designed for manipulators working in orbit is very difficult due to the necessity of simulating the microgravity environment on Earth. In this paper, we present the possibilities of utilising the KUKA KUBE test-bed with industrial robots to experimentally verify space systems using hardware-in-the-loop tests. The fixed-base KUKA industrial robot is operated in gravitational environment, while the space system model plant is solved in real time parallel to on-ground experiment. The test-bed measurements are the input of the model plant, and the output of the model is treated as an input for the industrial robot actuation. In the performed experiment, the control system based on the Dynamic Jacobian is validated. The desired point that is reached by the manipulator's end-effector is constant in the simulated environment and moving with respect to the test-bed frame. The position of the space manipulator's end-effector is calculated by evaluating dynamics of the satellite in real-time model. The results show that the control system applied to the KUKA robot works correctly. The measurements from the torque sensors mounted in KUKA robot's joints are in accordance with the simulation results. This fact enhances the possibilities of gravity compensation, thus simulating microgravity environment on the test-bed.

Application of the Kuka Kube Test-Bed for the Hardware-in-the-Loop Validation of the Space Manipulator Control System

Institute of Automatic Control, Department of Robot Control

Artificial Satellites

This work is licensed under the Creative Commons Attribution 4.0 International License.

The on-ground validation of control systems designed for manipulators working in orbit is very difficult due to the necessity of simulating the microgravity...

Application of the Kuka Kube Test-Bed for the Hardware-in-the-Loop Validation of the Space Manipulator Control System

Published Online: Dec 29, 2023

Page range: 230 - 248

Received: Dec 14, 2022

Accepted: Aug 17, 2023

DOI: https://doi.org/10.2478/arsa-2023-0025

Keywords
space manipulator, hardware-in-the-loop, experimental validation, control systems, orbital robotics, KUKA industrial robot

© 2023 Mateusz Wojtunik et al., published by Sciendo

This work is licensed under the Creative Commons Attribution 4.0 International License.

Application of the Kuka Kube Test-Bed for the Hardware-in-the-Loop Validation of the Space Manipulator Control System

Published Online: Dec 29, 2023

Page range: 230 - 248

Received: Dec 14, 2022

Accepted: Aug 17, 2023

DOI: https://doi.org/10.2478/arsa-2023-0025

Keywordsspace manipulator, hardware-in-the-loop, experimental validation, control systems, orbital robotics, KUKA industrial robot

© 2023 Mateusz Wojtunik et al., published by Sciendo

This work is licensed under the Creative Commons Attribution 4.0 International License.

Keywords
space manipulator, hardware-in-the-loop, experimental validation, control systems, orbital robotics, KUKA industrial robot