TY - GEN
T1 - Control methodologies for relative motion reproduction in a robotic hybrid test simulation of aerial refuelling
AU - du Bois, Jonathan Luke
AU - Thomas, Peter
AU - Bullock, Steve
AU - Bhandari, Ujjar
AU - Richardson, Thomas S.
N1 - Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2012
Y1 - 2012
N2 - In many applications it is advantageous to simulate the relative motion of two bodies in a laboratory environment. This permits the testing of sensors and systems critical to the safety of equipment and personnel with reduced risk, and facilitates stage-gate management of large projects to mitigate financial risks. The University of Bristol is collaborating with Cobham Mission Equipment to develop a large-scale facility for relative motion simulation, primarily for the purpose of testing automated air-to-air refuelling systems. The facility incorporates two 6DOF articulated robotic arms whose motion is dictated by real-time numerical simulations of the physical environment. Sensors on the robot-mounted equipment feed back into the numerical simulation to perform closed loop simulations with real hardware. This paper discusses the development of the facility and the different approaches considered for achieving real-time control of the robotic hardware. It then goes on to focus on aspects of the control topologies and motion optimisation which are used to maximise the performance of the facility. The current capabilities are demonstrated with respect to an aerial refuelling exercise and future challenges are explored.
AB - In many applications it is advantageous to simulate the relative motion of two bodies in a laboratory environment. This permits the testing of sensors and systems critical to the safety of equipment and personnel with reduced risk, and facilitates stage-gate management of large projects to mitigate financial risks. The University of Bristol is collaborating with Cobham Mission Equipment to develop a large-scale facility for relative motion simulation, primarily for the purpose of testing automated air-to-air refuelling systems. The facility incorporates two 6DOF articulated robotic arms whose motion is dictated by real-time numerical simulations of the physical environment. Sensors on the robot-mounted equipment feed back into the numerical simulation to perform closed loop simulations with real hardware. This paper discusses the development of the facility and the different approaches considered for achieving real-time control of the robotic hardware. It then goes on to focus on aspects of the control topologies and motion optimisation which are used to maximise the performance of the facility. The current capabilities are demonstrated with respect to an aerial refuelling exercise and future challenges are explored.
UR - http://www.scopus.com/inward/record.url?scp=85088720265&partnerID=8YFLogxK
U2 - 10.2514/6.2012-4676
DO - 10.2514/6.2012-4676
M3 - Chapter in a published conference proceeding
AN - SCOPUS:85088720265
SN - 9781600869389
T3 - AIAA Guidance, Navigation, and Control Conference 2012
BT - AIAA Guidance, Navigation, and Control Conference 2012
PB - American Institute of Aeronautics and Astronautics Inc.
T2 - AIAA Guidance, Navigation, and Control Conference 2012
Y2 - 13 August 2012 through 16 August 2012
ER -