EMULATION OF SPACE ROBOTICS CONTROL BY IMPLEMENTING A TEST-BED SYSTEM

摘要

The main objective of this research work is to build a test-bed for space robot emulation system that operates in the "zero or less gravity" environment. To achieve this, a 2-DOF SCARA robot with a unique instrumental arrangement was contracted which will compensate the gravity force. The robot dynamic model and control parameters were studied through the Newton-Euler formulation. Real time-data was collected from the feedbacks of the encoders and controlled through the PC interface card. This mechanical emulation setup is useful for the space robot control system modeling and validation.