Experimental Validation of Contact Dynamics Simulation of Constrained Robotic Tasks

Dynamics simulation plays a key role in the design, verification, and operation planning of the International Space Station manipulator systems because of the difficulties of ground-based physical tests with large flexible robotic systems. Modeling of contact dynamics has become essential to dynamics simulation of space station robotic operations (such as the assembly and maintenance of the station). To meet its mandate, the modeling and simulation tool must be of very high fidelity. This paper describes a research project aimed at experimentally validating a general contact dynamics simulation software developed by Macdonald Dettwiler Space & Advanced Robotics Ltd. (previously Spar Aerospace Ltd.). The experimental tests were carried out in the robotics laboratory at the University of Victoria. The validation results demonstrated that the software is capable of predicting realistic contact behavior during constrained robotic operations.