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Journals
Artificial Satellites
Volume 58 (2023): Issue s1 (December 2023)
Open Access
Application of the Kuka Kube Test-Bed for the Hardware-in-the-Loop Validation of the Space Manipulator Control System
Mateusz Wojtunik
Mateusz Wojtunik
,
Piotr Łuczak
Piotr Łuczak
,
Tomasz Rybus
Tomasz Rybus
and
Grzegorz Granosik
Grzegorz Granosik
| Dec 29, 2023
Artificial Satellites
Volume 58 (2023): Issue s1 (December 2023)
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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.
Figure 1.
Schematic view of the n-DoF space manipulator
Figure 2.
KUKA KUBE test-bed
Figure 3.
Communication diagram for KUKA KUBE test-bed hardware-in-the-loop experiments. Blue rectangles with continuous borders represent hardware components. Green, inner rectangles with dashed borders represent software components that were created or modified to perform the experiment. Brackets around parameters are added to improve subscript readability
Figure 4.
Logical diagram for KUKA KUBE test-bed hardware-in-the-loop experiments
Figure 5.
Schematic representation of the performed experiment
Figure 6.
Diagrammatic description of a single control loop iteration
Figure 7.
Frames captured by the camera mounted inside the KUKA KUBE test-bed that show the KUKA manipulator during experiments.From left to right: t = 0 (initial configuration), t = 6.6s, t = 13.3 s, t = 20 s (final configuration)
Figure 8.
Manipulator joint angular positions measured in the experiment and signal approximation for the comparison simulation
Figure 9.
The approximation error for joint angular positions measured in the experiment
Figure 10.
Manipulator end-effector position and orientation with respect to the simulated inertial frame Πine – comparison with the simulation results
Figure 11.
Difference in manipulator end-effector position and orientation with respect to the simulated inertial frame Πine between the experimental and simulation results
Figure 12.
Satellite position and attitude with respect to the simulated inertial frame Πine – comparison with the simulation results
Figure 13.
Difference in satellite position and attitude with respect to the simulated inertial frame Πine between experimental and simulation results
Figure 14.
Time of evaluation for each iteration of the MATLAB loop
Figure 15.
The net torque acting on the second manipulator joint – comparison with the simulation
Figure 16.
The net torque acting on each manipulator joint – comparison with the simulation
Figure 17.
The difference in net torque acting on each manipulator joint between the experimental and simulation results
KUKA LBR iiwa 14 R820 DH table
i
α
i
[deg]
θ
m
i
[deg]
a
i
[m]
d
i
[m]
1
90
θ
m
1
0
0.360
2
−90
θ
m
2
0
0
3
−90
θ
m
3
0
0.420
4
90
θ
m
4
0
0
5
90
θ
m
5
0
0.400
6
−90
θ
m
6
0
0
7
0
θ
m
7
+ 180
0
0.126
Preview