Issues and solutions for testing free-flying robots |
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Authors: | Carlo Menon S Busolo S Cocuzza A Aboudan A Bulgarelli C Bettanini M Marchesi F Angrilli |
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Institution: | aCISAS-“G. Colombo” Center of Studies and Activities for Space, Department of Mechanical Engineering, University of Padova, Italy |
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Abstract: | Space robotics currently has an important role in space operations and scientists and engineers are designing new robotic systems for space servicing missions and extra-vehicular activities. In particular, free-flying robots with extended arms have compelling applications and several prototypes have recently been developed. Testing on Earth free-flying robots is a main issue as the unconstrained environment of free space must be simulated. From the experience acquired by testing a free-flying robot prototype both in a tethered facility and during a parabolic flight campaign, and after several years of experiments using air-bearing planar systems, the authors describe and discuss methods to test free-flying robots. A recent study aimed at designing a free-flying platform suitable for an under-water environment is also presented and discussed. |
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