Modeling and simulation of robotic system for servicing Hubble Space Telescope

被引：8

作者：

Wang, Jiegao ^{[1
]}

Mukherji, Raja ^{[1
]}

Ficocelli, Mariano ^{[1
]}

Ogilvie, Andrew ^{[1
]}

Liu, Michael ^{[1
]}

Rice, Craig ^{[1
]}

机构：

[1] Dettwiler & Associates Ltd, MacDonald, Space Missions, Brampton, ON L6S 3J4, Canada

来源：

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年

关键词：

simulation; robotic servicing; Hubble Space Telescope;

D O I：

10.1109/IROS.2006.281804

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper addresses modeling, simulation and controls of a robotic servicing system for the Hubble Space Telescope servicing missions. The simulation models of the robotic system include flexible body dynamics, control systems and geometric models of the contacting bodies. These models are incorporated into MDA's simulation facilities, the multibody dynamics simulator "Space Station Portable Operations Training Simulator (SPOTS)". Three simulation examples of the robotic servicing operations are presented: (1) capture of the Hubble Space Telescope, (2) berthing the Hubble Space Telescope to the Hubble Robotic Vehicle and (3) inserting the Wide Field Camera into the Hubble Space Telescope.

引用

页码：1026 / +

页数：2