Application of a planar air-bearing microgravity simulator for demonstration of operations required for an orbital capture with a manipulator

Tomasz Rybus , Karol Sewryn , Jakub Oleś , Fatina Liliana Basmandji , Kamil Tarenko , Radosław Moczydłowski , Tomasz Barciński , Jan Kindracki , Łukasz Mężyk , Przemysław Paszkiewicz , Piotr Wolański

Abstract

Microgravity is the aspect of space environment that is important for robotic technologies. One possible approach to simulate microgravity conditions on Earth is to use planar air-bearing microgravity simulators. In this study we have assessed the possible application of such simulator for demonstration of operations required for the orbital capture manoeuvre. In our experiments we have used mock-up of satellite equipped with a manipulator and a set of cold-gas thrusters. Results of two sets of experiments are presented. In both sets the manipulator end-effector followed a straight-line trajectory. In the first set the satellite mock-up was commanded to hold fixed position and orientation, while in the second set the satellite mock-up was commanded to follow a pre-defined trajectory. Performed experiments show that the accuracy of the planar air-bearing microgravity simulator is sufficient to use this facility to validate control algorithms and control strategies. Presented analysis also shows that changes of the satellite-manipulator system parameters caused by the consumption of air and nitrogen from gas canisters located on the satellite mock-up have negligible influence on the dynamic behaviour of the system
Author Tomasz Rybus
Tomasz Rybus,,
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, Karol Sewryn
Karol Sewryn,,
-
, Jakub Oleś
Jakub Oleś,,
-
, Fatina Liliana Basmandji
Fatina Liliana Basmandji,,
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, Kamil Tarenko
Kamil Tarenko,,
-
, Radosław Moczydłowski
Radosław Moczydłowski,,
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, Tomasz Barciński
Tomasz Barciński,,
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, Jan Kindracki (FPAE / IHE)
Jan Kindracki,,
- The Institute of Heat Engineering
, Łukasz Mężyk (FPAE / IHE)
Łukasz Mężyk,,
- The Institute of Heat Engineering
, Przemysław Paszkiewicz (FPAE / IHE)
Przemysław Paszkiewicz,,
- The Institute of Heat Engineering
et al.`
Journal seriesActa Astronomica, ISSN 0001-5237, (A 30 pkt)
Issue year2019
Vol155
Pages211-229
Publication size in sheets10.55
Keywords in EnglishPlanar air-bearing microgravity simulator Space robotics Cold-gas thrusters Experimental validation
ASJC Classification1912 Space and Planetary Science; 3103 Astronomy and Astrophysics
URL https://doi.org/10.1016/j.actaastro.2018.12.004
Languageen angielski
Score (nominal)30
ScoreMinisterial score = 30.0, 11-03-2019, ArticleFromJournal
Ministerial score (2013-2016) = 30.0, 11-03-2019, ArticleFromJournal
Publication indicators Scopus SNIP (Source Normalised Impact per Paper): 2016 = 1.047; WoS Impact Factor: 2017 = 3.667 (2) - 2017=2.886 (5)
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