On-orbit operations such as servicing and assembly are considered a priority for the future space industry. Ground-based facilities that emulate on-orbit interactions are key tools for developing and testing space technology. This paper presents a control framework to emulate on-orbit operations using on-ground robotic manipulators. It combines Virtual Forward Dynamics Models (VFDM) for Cartesian motion control of robotic manipulators with an Orbital Dynamics Simulator (ODS) based on the Clohessy Wiltshire (CW) Model. The VFDM-based Inverse Kinematics (IK) solver is known to have better motion tracking, path accuracy, and solver convergency than traditional IK solvers. Thus, it provides a stable Cartesian motion for manipulators based on orbit emulations, even at singular or near singular configurations. The framework is tested at the ZeroG-Lab robotic facility of the SnT by emulating two scenarios: free-floating satellite motion and free-floating interaction (collision). Results show fidelity between the simulated motion commanded by the ODS and the one executed by the robot-mounted mockups.

翻译：在轨操作，如维护和组装，被认为是未来航天工业的优先方向。模拟在轨交互的地面设施是开发和测试空间技术的关键工具。本文提出了一种利用地面机器人机械臂模拟在轨操作的控制框架。该框架将用于机器人机械臂笛卡尔运动控制的虚拟前向动力学模型（VFDM）与基于Clohessy Wiltshire（CW）模型的轨道动力学模拟器（ODS）相结合。基于VFDM的逆运动学（IK）求解器相比传统IK求解器，具有更好的运动跟踪、路径精度和求解收敛性。因此，即使在奇异或接近奇异构型下，它也能为基于轨道模拟的机械臂提供稳定的笛卡尔运动。该框架在SnT的ZeroG-Lab机器人设施上通过模拟两种场景进行了测试：自由漂浮卫星运动和自由漂浮交互（碰撞）。结果表明，ODS指令的模拟运动与机器人安装的模型实际执行的运动之间具有高保真度。