Microgravity testbed for the development of space robot control systems and the demonstration of orbital maneuvers

Abstract

Space robots will play an important role in the future space activities. On-orbit servicing, on-orbit assembly as well as active debris removal are only some of the tasks that could be accomplished using the space robots. The control systems of the space robot should be tested in order to verify the developed algorithms. Although it is difficult to conduct tests of a space robot on the Earth because of the gravity, there are several solutions that enable testing. Terrestrial-based options include parabolic flights, drop towers and planar air bearing microgravity testbeds such as the testbed possessed by the Space Research Centre of the Polish Academy of Sciences (CBK PAN). This testbed is capable of testing various control systems and enables a space robot to perform complex maneuvers. The main objective of this paper is to present the upgraded testing facility. Firstly, the robotic arm of the space robot was equipped with a third kinematic pair. Secondly, new PCB boards for the main computer, joints controllers and cold-gas thrusters controller were developed. Moreover, the space robot was equipped with two stereovision cameras to detect the obstacles in the robot’s surroundings. Finally, the results of two exemplary tests carried out using the updated facility are presented.