Distortion Compensation for a Robotic Hardware-In-The-Loop Contact Simulator

The robotic hardware-in-the-loop (HIL) simulator can effectively simulate the space contact dynamics on the ground. It is known that the HIL contact simulation is distorting due to the phase difference between the measured contact force and desired motion of the spacecraft. In this paper, the measur...

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Bibliographic Details
Published inIEEE transactions on control systems technology Vol. 26; no. 4; pp. 1170 - 1179
Main Authors Qi, Chenkun, Gao, Feng, Zhao, Xianchao, Wang, Qian, Sun, Qiao
Format Journal Article
LanguageEnglish
Published IEEE 01.07.2018
Subjects
Contact dynamics
Delays
Distortion
Dynamics
Force
force compensation
Force measurement
hardware-in-the-loop (HIL) simulation
robotic contact simulator
simulation distortion
Space vehicles
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Summary:The robotic hardware-in-the-loop (HIL) simulator can effectively simulate the space contact dynamics on the ground. It is known that the HIL contact simulation is distorting due to the phase difference between the measured contact force and desired motion of the spacecraft. In this paper, the measured force is compensated by considering the force measurement delay, the position response error of the motion simulator, and the structural deformation of the upper platform. The delayed force measurement is first phase leaded. The force error caused by the response delay of the motion simulator is compensated by the response error and contact stiffness. The force error caused by the structural deformation of the upper platform is compensated by the deformation prediction and contact stiffness. Both simulations and experiments show that the approach can effectively reduce the distortion and improve the simulation accuracy.
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2017.2709278