Model verification and validation of a mobile robot system for 6-DOF motion emulation
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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.
author list (cited authors)
Bai, X., Junkins, J. L., Turner, J. D., & Frisch, H.