Actuation delay compensation of robots in semi-physical test

Xiao Zhang; Yun He; Zhigang Xu; Zainan Jiang; Yong Liu; Wenbo Feng; Junwu Wu

doi:10.3389/fnbot.2022.1099656

Actuation delay compensation of robots in semi-physical test

Front Neurorobot. 2023 Jan 9:16:1099656. doi: 10.3389/fnbot.2022.1099656. eCollection 2022.

Authors

Xiao Zhang^{1

2

3}, Yun He^{1

2

4}, Zhigang Xu^{1

2}, Zainan Jiang³, Yong Liu^{1

2}, Wenbo Feng⁵, Junwu Wu⁵

Affiliations

¹ Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China.
² Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China.
³ State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China.
⁴ University of Chinese Academy of Sciences, Beijing, China.
⁵ Institute of Aerospace System Engineering Shanghai, Shanghai, China.

Abstract

In general, the traditional spacecraft semi-physical docking tests include the evaluation of docking and separation performance. However, these tests often rely on "specific" equipment, such as specially designed actuators and fast-response hydraulic systems, to meet the stringent dynamic response requirements of semi-physical testing. In this paper, a novel docking test platform is designed based on a general-purpose industrial manipulator using 3-D force and 3-D torque sensors. Different from the traditional solution, this novel platform is well-assembled and cost-effective. Furthermore, an actuation delay compensation method is introduced to improve the performance. Finally, the proposed method is evaluated using simulations. The results show that the novel method is with promising performance in terms of actuation delay compensation.

Keywords: actuation delay compensation; docking test platform; robotic systems; semi-physical test; space docking dynamics modeling.