Print Email Facebook Twitter Flexible space-based robot modelling and real-time simulation Title Flexible space-based robot modelling and real-time simulation Author Prins, J.J.M. Dieleman, P. van Woerkom, P.T.L.M. Institution National Aerospace Laboratory NLR Date 1989-11-08 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. Development and qualification of such a space-based manipulator must be supported by computer simulation facilities. The HERA system main contractor is Fokker Space & Systems B.V. (FSS). The National Aerospace Laboratory (NLR) in the Netherlands is responsible for the development of the so-called HERA Simulation Facilities (HSF). The paper will ficus on the HSF-P: a first 'pilot' real-time simulation facility. Design concept, simulation models and support tools are discussed in some detail. Subject computerized simulationrobot armsHermes manned spaceplanemanipulatorsrobot dynamicsresearch facilitiesteleoperatorsdynamic modelsreal time operationvisual controldisplay devices To reference this document use: http://resolver.tudelft.nl/uuid:736a403b-29b1-40eb-8630-e082eee1404f Publisher Nationaal Lucht- en Ruimtevaartlaboratorium Access restriction Campus only Source NLR Technical Publication TR 89364 U Part of collection Aerospace Engineering Reports Document type report Rights (c) 1989 National Aerospace Laboratory NLR Files PDF 89364.pdf 11.23 MB Close viewer /islandora/object/uuid:736a403b-29b1-40eb-8630-e082eee1404f/datastream/OBJ/view