Application of a planar air-bearing microgravity simulator for demonstration of operations required for an orbital capture with a manipulator

Microgravity is the aspect of space environment that is important for robotic technologies. One possible approach to simulate microgravity conditions on Earth is to use planar air-bearing microgravity simulators. In this study we have assessed the possible application of such simulator for demonstration of operations required for the orbital capture manoeuvre. In our experiments we have used mock-up of satellite equipped with a manipulator and a set of cold-gas thrusters. Results of two sets of experiments are presented. In both sets the manipulator end-effector followed a straight-line trajectory. In the first set the satellite mock-up was commanded to hold fixed position and orientation, while in the second set the satellite mock-up was commanded to follow a pre-defined trajectory. Performed experiments show that the accuracy of the planar air-bearing microgravity simulator is sufficient to use this facility to validate control algorithms and control strategies. Presented analysis also shows that changes of the satellite-manipulator system parameters caused by the consumption of air and nitrogen from gas canisters located on the satellite mock-up have negligible influence on the dynamic behaviour of the system.