The real-time Hermes robot arm simulator: HSF-P

Report (1989)

Authors

J.J.M. Prins

P. Dieleman

H. de Jong

Control Dynamics Automation Software Robotics Manipulator Real-time simulation Digital simulation Columbus HERA

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Published Date

27-10-1989

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NLR Technical Publication TP 89331 L

Abstract

The Hermes manipulation system (HERA) is a sophisticated space manipulator system, which has to perform tasks ranging from berthing to tool operation in various operational modes from fully automatic to purely manual. The HERA system main contractor is Fokker Space & Systems B.V. (FSS). Development and qualification of such a space-based manipulator must be supported by computer simulation facilities. The National Aerospace Laboratory (NLR) in the Netherlands is responsible for the development of the so-called HERA Simulation Facilities (HSF). The paper will focus on the HSF-P; a first 'pilot' real-time simulation facility.

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