A Passivity-Based Velocity Control Method of Hardware-in-the-Loop Simulation for Space Robotic Operations

摘要

The hardware-in-the-loop (HIL) simulation is an important approach to test space robotic operations, rendering virtual free-floating dynamics on robotic facilities. However, this approach suffers from velocity divergence due to intrinsic time delay in the control loop. This paper proposes a passivity-based control strategy to handle the simulation divergence. A HIL simulation system with an industrial robot is modelled and its divergence problems are analyzed through numerical simulations. Then, through representing the HIL simulation system in a passivity network of view, the passivity observer (PO) of the dynamic system is established. The PO includes the effect of a real contact damping on energy flow of the passivity network during a contact process. Thus, a passivity controller is defined. Moreover, a real-time estimation method for contact damping is presented. Finally, collision experiments against a virtual wall and real collision experiments are both implemented. The experimental results show that the simulation divergence due to the time delay can be prevented by the proposed control strategy, and that the velocity characteristics with high fidelity are rendered on the HIL simulation system.