Modelling and Real-Time Simulation of the Hermes Robot Arm Hera.

摘要

The HErmes Robot Arm (HERA) is a sophisticated and highly automated Space Manipulator System developed to be launched with and operated from the European Spaceplane Hermes. During operational use HERA will be located at the Columbus Free-Flying Laboratory which is part of the European In-Orbit Infrastructure. The HERA Simulation Facility Pilot (HSF-P) is the first dedicated simulation facility built for research and development needed for HERA. Main objectives of the HSF-P are evaluation of tele-operator station requirements, evaluation of operator-in-the-loop support software, experimentation on manipulator operations feasibility and visualization of manipulator operations both in real-time and in non-real-time. Simulation models of flight elements used for HSF-P are described in the paper, with main attention in the models used for simulation of HERA. The paper concludes with a description of the HSF-P architecture and its realization.