A Robotic Testbed for Positioning and Attitude Accuracy Test of Space Manipulator

In this paper, a novel testing method for on-ground test of space manipulator is introduced. The configurations of the testbed and the manipulator are described in detail. To accomplish the test of three-dimensional movement, a modified testbed using air-bearings is designed. By adopting the two-step testing method, which is presented in this paper, the three-dimensional positioning accuracy and the three-dimensional attitude accuracy of the space manipulator can be measured. The main idea of this method is to divide a three-dimensional movement into two planar movements, which can be performed on the testbed. The equations of data processing are deduced. The analysis shows that the mentioned testing method is practical for the research of space manipulators

[1]  Kazuya Yoshida,et al.  Control of a space manipulator for autonomous target capture - ETS-VII flight experiments and analysis , 2000 .

[2]  Yoshisada Murotsu,et al.  Experimental studies for control of manipulators mounted on a free-flying space robot , 1993, Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93).

[3]  Takeo Kanade,et al.  Control system of the self-mobile space manipulator , 1994, IEEE Trans. Control. Syst. Technol..

[4]  Kazuya Yoshida,et al.  Space Robot Dynamics and Control: a Historical Perspective , 2000, J. Robotics Mechatronics.

[5]  Kazuya Yoshida.  Space Robot Dynamics and Control: To Orbit, From Orbit, and Future , 2000 .

[6]  Mitsushige Oda,et al.  ETS-VII, space robot in-orbit experiment satellite , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[7]  Yuichi Sato,et al.  Micro-G emulation system using constant-tension suspension for a space manipulator , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.