Model verification and validation of a mobile robot system for 6-DOF motion emulation
We are developing a mobile robotic system for spacecraft 6-DOF motion emulation. The system includes a micro precision Stewart platform and a mobile base robot. A high fidelity dynamic model of the system has been developed to satisfy the high precision emulation application requirement. This paper presents our verification and validation effort. The in-house developed Stewart platform automatic differentiation model is cross verified by a generic multi-body dynamic software-NDISCOS. The modeling approaches for both automatic differentiation model and NDISCOS model are discussed and simulation results are compared to show the agreement between the two modeling approaches. A dynamical model for the mobile base model is also developed and validated. Several issues with the verification and validation process of the base model are discussed. 2008 by the American Institute of Aeronautics and Astronautics, Inc.