Actuation delay compensation of robots in semi-physical test

In general, the traditional spacecraft semi-physical docking tests include the evaluation of docking and separation performance. However, these tests often rely on specific equipment, such as specially designed actuators and fast-response hydraulic systems, to meet the stringent dynamic response requirements of semi-physical testing. In this paper, a novel docking test platform is designed based on a general-purpose industrial manipulator using 3-D force and 3-D torque sensors. Different from the traditional solution, this novel platform is well-assembled and cost-effective. Furthermore, an actuation delay compensation method is introduced to improve the performance. Finally, the proposed method is evaluated using simulations. The results show that the novel method is with promising performance in terms of actuation delay compensation.

Automated summary

In traditional spacecraft semi-physical docking tests, the evaluation of docking and separation performance relies on specific equipment. This paper proposes a novel docking test platform using a general-purpose industrial manipulator and 3-D force and 3-D torque sensors. The platform is well-assembled, cost-effective, and introduces an actuation delay compensation method to improve performance. Simulation results demonstrate promising actuation delay compensation performance of the novel method.