Abstract: Systems and methods of ground testing a position and orientation measurement and control system are provided. The method includes outputting control forces and torques by a position and orientation measurement and control system (POMCS) hardware unit mounted at a tip of a robotic manipulator configured to emulate a dynamic system in a selected gravity environment; sensing accelerations and velocities of the POMCS hardware unit in response to the control forces and torques; sensing forces and moments exchanged between the tip and the POMCS hardware unit in response to the control forces and torques; correcting the sensed forces and moments using the sensed accelerations and velocities to obtain compensated forces and moments; and using the compensated forces and moments in an emulation software package to produce a simulated inertial response of the dynamic system in the selected gravity environment.

Abstract: Systems and methods for designing, testing, and validating a robotic system for space are provided. A system includes: a robotic manipulator; a dynamic system emulator configured to simulate a motion behaviour response of a first space robotic system based on forces and moments measured by the first robotic manipulator during physical interaction of the first robotic manipulator with a second robotic manipulator emulating motion behaviour of a second space robotic system; an arm controller configured to generate a manipulator tip reference trajectory command based on the motion behaviour response simulated by the dynamic system emulator and provide the manipulator tip reference trajectory command to the robotic manipulator; and an arm mechanism in the robotic manipulator configured to track a trajectory based on the manipulator tip reference trajectory command, such that the robotic manipulator emulates motion behaviour of the first space robotic system.

Abstract: Systems and methods for designing, testing, and validating a robotic system for space are provided. A system includes: a robotic manipulator; a dynamic system emulator configured to simulate a motion behaviour response of a first space robotic system based on forces and moments measured by the first robotic manipulator during physical interaction of the first robotic manipulator with a second robotic manipulator emulating motion behaviour of a second space robotic system; an arm controller configured to generate a manipulator tip reference trajectory command based on the motion behaviour response simulated by the dynamic system emulator and provide the manipulator tip reference trajectory command to the robotic manipulator; and an arm mechanism in the robotic manipulator configured to track a trajectory based on the manipulator tip reference trajectory command, such that the robotic manipulator emulates motion behaviour of the first space robotic system.