SIX DEGREE OF FREEDOM MOTION EMULATION FOR PROXIMITY OPERATIONS AND CONTACT EXPERIMENTS
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Future efforts for the removal of space debris will require the development of new technologies. To support this development, the Texas A and M LASR Laboratory has engineered several systems for ground based testing of technologies for space based proximity operations, rendezvous, and contact dynamics. The centerpiece of this suite is the Holonomic Omnidirectional Motion Emulation Robot (HOMER), a 6 degree of freedom platform for reproducing motion based on the input of a dynamic simulation. This paper details recent upgrades made to HOMER to support active debris removal experiments including the integration of a load cell and inertial measurement units as well as an upgrade to its estimation and control algorithms.
author list (cited authors)
Probe, A. B., Samaan, M., Woodbury, T., Hurtado, J. E., & Junkins, J. L.