Development of 6DOF Hardware-in-the-Loop Ground Testbed for Autonomous Robotic Space Debris Removal

This paper presents the development of a hardware-in-the-loop ground testbed featuring active gravity compensation via software-in-the-loop integration, specially designed to support research in autonomous robotic removal of space debris. The testbed is designed to replicate six degrees of freedom (...

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Bibliographic Details
Published in:Aerospace 2024-11, Vol.11 (11), p.877
Main Authors: Ali, Ahmad Al, Beigomi, Bahador, Zhu, Zheng H.
Format: Article
Language:English
Subjects:
active gravity compensation
Aircraft
Astronauts
Cameras
Computer simulation
Computer vision
Control algorithms
Detritus
Fingers
Gravity
Hardware
hardware-in-the-loop
Machine vision
Manipulators
Microgravity
Motion control
Multisensor fusion
Robot arms
robotic finger griper
robotic manipulator
Robotics
Robots
Sensors
Space debris
Space debris mitigation
Space missions
Tensors
Test stands
three-dimensional microgravity testbed
Torque sensors (robotics)
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Summary:This paper presents the development of a hardware-in-the-loop ground testbed featuring active gravity compensation via software-in-the-loop integration, specially designed to support research in autonomous robotic removal of space debris. The testbed is designed to replicate six degrees of freedom (6DOF) motion maneuvering to accurately simulate the dynamic behaviors of free-floating robotic manipulators and free-tumbling space debris under microgravity conditions. The testbed incorporates two industrial 6DOF robotic manipulators, a three-finger robotic gripper, and a suite of sensors, including cameras, force/torque sensors, and tactile tensors. Such a setup provides a robust platform for testing and validating technologies related to autonomous tracking, capture, and post-capture stabilization within the context of active space debris removal missions. Preliminary experimental results have demonstrated advancements in motion control, computer vision, and sensor fusion. This facility is positioned to become an essential resource for the development and validation of robotic manipulators in space, offering substantial improvements to the effectiveness and reliability of autonomous capture operations in space missions.
ISSN:2226-4310
2226-4310
DOI:10.3390/aerospace11110877