Feasibility of real-time dynamics simulation for the HERA simulation facility pilot

Feasibility of real-time dynamics simulation for the HERA simulation facility pilot

Dieleman, P.

National Aerospace Laboratory NLR

1988-10-01

To support the development of the Hermes manipulator arm HERA several simulation facilities were identified. An early simulation facility was defined: the HERA Simulation Facility Pilot. This is a simulation facility which shall support real-time simulation of HERA and real-world systems related with it. A feasibility study was done to find out which models can be used for real-time simulation of the system dynamics. A prototype non-linear joint model was developed, implemented, tested and incorporated in the overall manipulator dynamics. Stability of numerical integration, based on the Runga Kutta-2 scheme, was studied. Additional damping was introduced in all manipulator model elements which include flexibility in order to enable stable simulation using simulation frequencies up to 100 Hz. This simulation frequency is imposed upon the HSFP by the performance of the target computer. Simulations show that stable simulation of HERA with flexible shoulder and elbow joints and bending of the two longest HERA beams is possible for the configurations studied. Implementation of joint non-linearities and the effect of HERA configuration and state changes on simulator stability have to be treated with care during the actual realisation of HSFP.

http://resolver.tudelft.nl/uuid:5bec5da4-5591-498c-9d9d-bc19974de218

Nationaal Lucht- en Ruimtevaartlaboratorium

Campus only

NLR-TR 88112 L

Aerospace Engineering Reports

report

(c) 1988 National Aerospace Laboratory NLR