Inertia-Decoupled Equations for Hardware-in-the-Loop Simulation of an Orbital Robot with External Forces
Hrishik Mishra,Alessandro M. Giordano,Marco De Stefano,Roberto Lampariello,Christian Ott,Hrishik Mishra,Alessandro M. Giordano,Marco De Stefano,Roberto Lampariello,Christian Ott
In this paper, we propose three novel Hardware-in-the-loop simulation (HLS) methods for a fully-actuated orbital robot in the presence of external interactions using On-Ground Facility Manipulators (OGFM). In particular, a fixed-base and a vehicle-driven manipulator are considered in the analyses. The key idea is to describe the orbital robot's dynamics using the Lagrange-Poincaré(LP) equations, w...
