Space Robotic Manipulator Testing for Zero-Gravity Interaction Emulation
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Solution Overview
Problem
Existing robotic systems face challenges in optimizing zero-gravity performance and evaluating interactions with free-flying payloads or worksite interfaces, particularly in designing, testing, and validating robotic systems for space missions.
Innovation Solution
A robotic testing system comprising a first and second robotic manipulator with dynamic system emulators and arm controllers to simulate and track motion behavior, along with a mixed reality system for virtual model overlay, enabling ground-based emulation of zero-gravity servicer and client robotic systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If ground-based testing is performed for zero-gravity robotic systems, then testing and validation can be conducted on Earth, but accurately simulating zero-gravity motion behavior and free-flying interactions becomes extremely difficult
Solution Approach 1:
The patent creates virtual copies of zero-gravity robotic systems and free-flying spacecraft through high-fidelity simulation models. These digital twins replicate the dynamic behavior, mass properties, and interaction characteristics of actual space robotic systems, allowing ground-based testing to accurately emulate zero-gravity conditions without requiring physical zero-gravity environments
Solution Approach 2:
The patent introduces an intermediary simulation environment that mediates between ground-based physical testing and zero-gravity operational requirements. The simulation acts as a bridge, translating Earth-based test data into virtual zero-gravity scenarios and enabling validation of robotic system performance without direct exposure to actual zero-gravity conditions
2Reliability
If physical interaction testing between robotic manipulators is conducted on ground, then system integration can be validated, but the interaction dynamics with free-flying payloads cannot be accurately reproduced
Solution Approach 1:
The patent dynamically changes simulation parameters including mass, inertia, damping, and stiffness properties to replicate free-flying payload behavior. The simulation model adjusts these parameters in real-time based on measured forces and moments from physical robotic manipulator interactions, enabling accurate reproduction of zero-gravity interaction dynamics during ground-based testing
3Device complexity
If traditional ground testing methods are used, then existing infrastructure can be utilized, but optimization of control systems for zero-gravity performance becomes ineffective
Solution Approach 1:
The patent implements a feedback loop where forces and moments measured during physical robotic manipulator interactions are fed into the simulation model. The simulation processes this feedback data to update the virtual zero-gravity environment, which then provides corrected motion behavior responses back to the physical system, enabling iterative optimization of control systems for zero-gravity performance using existing ground infrastructure
Data Source
AI summary
Systems and methods for designing, testing, and validating a robotic system for space are provided. A system includes: a robotic manipulator; a dynamic system emulator configured to simulate a motion behaviour response of a first space robotic system based on forces and moments measured by the first robotic manipulator during physical interaction of the first robotic manipulator with a second robotic manipulator emulating motion behaviour of a second space robotic system; an arm controller configured to generate a manipulator tip reference trajectory command based on the motion behaviour response simulated by the dynamic system emulator and provide the manipulator tip reference trajectory command to the robotic manipulator; and an arm mechanism in the robotic manipulator configured to track a trajectory based on the manipulator tip reference trajectory command, such that the robotic manipulator emulates motion behaviour of the first space robotic system.