The goal of this project is development and performance evaluation of interaction control strategies for orbital robotic applications and ground based HIL simulations. To this effect, the focus of this work is two-fold. Firstly, development of application specific control algorithms for robotic manipulators in simulated microgravity environments. This involves a wide range of in-orbital robotic manipulation activities. Secondly, to use robot interaction control to simulate spacecraft interaction behaviour in the ground testing facilities.
Duration: 3+1 years from June 1, 2021