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Design and development of an earth based experimental setup for testing algorithms on space robots

Published: 02 July 2015 Publication History

Abstract

In space robots, coupling between the base and the arms causes the floating base to translate and rotate when the arms execute a maneuver, which is typically not seen in earth based robots. Since it is difficult to test developments in space robotics primarily due to the high cost and lack of access to robots in space, it is necessary to have physical systems that can mimic space conditions for experimental validation on earth. Among several options, the use of air bearings to build floating-base robots is one of the most effective. We describe the development of one such system that replicates zero gravity conditions for planar robots. Although similar systems exist elsewhere, the planar dual-arm space robot we have built is distinctive by being relatively lightweight, compact and modular. The setup can be used to test a wide range of experiments such as visual servoing, reactionless maneuvering and object grasping in space. In this paper, the approach taken during the development of both the hardware and software for the experimental setup are discussed. A few results obtained by numerical simulations as well as experimentation are also presented.

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Cited By

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  • (2023)Active debris removal: A review and case study on LEOPARD Phase 0-A missionAdvances in Space Research10.1016/j.asr.2023.06.01572:8(3386-3413)Online publication date: Oct-2023
  • (2018)Modeling and Estimation of Closed-Loop Impact for Multi-arm Space Robot While Capturing a Tumbling Orbiting ObjectMachines, Mechanism and Robotics10.1007/978-981-10-8597-0_48(561-570)Online publication date: 29-Aug-2018

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cover image ACM Other conferences
AIR '15: Proceedings of the 2015 Conference on Advances In Robotics
July 2015
413 pages
ISBN:9781450333566
DOI:10.1145/2783449
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 02 July 2015

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Author Tags

  1. air bearings
  2. dual arm
  3. floating base
  4. space robots

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  • Research-article

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AIR '15
AIR '15: Advances In Robotics
July 2 - 4, 2015
Goa, India

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Overall Acceptance Rate 69 of 140 submissions, 49%

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Cited By

View all
  • (2023)Active debris removal: A review and case study on LEOPARD Phase 0-A missionAdvances in Space Research10.1016/j.asr.2023.06.01572:8(3386-3413)Online publication date: Oct-2023
  • (2018)Modeling and Estimation of Closed-Loop Impact for Multi-arm Space Robot While Capturing a Tumbling Orbiting ObjectMachines, Mechanism and Robotics10.1007/978-981-10-8597-0_48(561-570)Online publication date: 29-Aug-2018

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