Robotic Simulation Experiments Demonstrating Docking Proximity Operations and Contact Dynamics

摘要

Hardware-in-the-loop experiments with realistic emulation of the performance of aerospace systems for the evaluation of Guidance, Navigation, and Control techniques have the potential to improve the reliability, while reducing the development cost associated with experimental systems and methods. The Land, Air, and Space Robotics Laboratory (LASR) has been investigating methods for experimentally evaluating missions involving proximity operations and contact dynamics. To provide the capability for these experiments two robotic systems have been developed, the Holonomic Omni-directional Motion Emulation Robot (HOMER) and the Suspended Target Emulation Pendulum (STEP). This paper contains a brief description of these two robotic motion emulation platforms, discusses the potential experimental use of these systems, and presents preliminary experimental results using the STEP system in conjunction with HOMER simulating a impact event between a capture vehicle and a defunct upper stage rocket booster.