Experimental Validation of Cdt-based Satellite Docking Simulations Using Soss Testbed

This paper describes a project which experimentally validates a generic contact-dynamics toolkit in a Simulink based satellite docking simulator. The simulation software was developed by MDA for supporting the design and verification of the ISS robotic systems and several satellite on-orbit servicing systems. The hardware experiment was performed using an air-bearing supported docking testbed specially designed for testing different docking and capture mechanisms. The simulation results compare favourably with the measured experimental data, which demonstrates the validity of the simulation tools and increases the confidence of using the simulation tool for design of various space servicing missions such as the Shuttle-Return-to-Flight, Orbital Express and the potential Hubble Telescope robotic repair missions.