STVE: SPDM task verification facility

摘要

As a partner in the International Space Station (ISS), Canada is responsible for the verification of all tasks involving the Special Purpose Dextrous Manipulator (SPDM). This paper describes the concept of the SPDM Task Verification Facility (STVF). The verification process involves three complementary stages. First, a real-time software simulator is used to verify the complete procedure. Second, the feasibility of the sub-task involving contact is verified with the help of a hardware-in-the-loop simulator. And finally, a non real-time simulator performs detailed parametric studies given the known tolerances on the components. The paper describes all three stages but emphasizes on the hardware-in-the-loop simulator, the main new additional facility within the Canadian Space Agency.