Validating the dynamics and control of space robotic systems by on-the-ground testing in simulated micro-gravity

An overview is given of the design and exploitation of four different test-beds, which are
currently set up in our laboratories for the on-the-ground testing of the dynamics and control
of space systems. Simulation of a two-dimensional translation in micro-gravity is obtained by
floating a system over air pads on a flat granite table. Simulation of three-dimensional
torque-free rotation of a system around its center of mass is obtained by mounting it over
a hemispherical air bearing. The on going researches, involving the four test-beds, span the
following three main areas:
1)Autonomous docking and spacecraft servicing robot: in particular study of enabling
technologies and control strategy.
2)Spacecraft attitude dynamics and control: in particular stabilization and precise tracking
control.
3)Dynamics and control of structurally flexible manipulator: in particular pre-shaping methods
to reduce the structural vibration during the maneuver.