Slider: On the Design and Modeling of a 2D Floating Satellite Platform

by   Avijit Banerjee, et al.

In this article, a floating robotic emulation platform for a virtual demonstration of satellite motion in space is presented. The robotic platform design is characterized by its friction-less, levitating, yet planar motion over a hyper-smooth surface. The robotic platform, integrated with sensor and actuator units, is fully designed and manufactured from the Robotics and Artificial Intelligence Team at Luleå University of Technology. A detailed design description along with the mathematical modeling describing the platform's dynamic motion is formulated. Finally, the proposed design is validated in extensive simulation studies, while the overall test bed experimental setup, as well as the vehicle hardware and software architectures, are discussed in detail. Furthermore, the entire design, including 3D printing CAD model and different testbed elements, is provided in an open-source repository and a test campaign is used to showcase its capabilities and illustrate its operations.



There are no comments yet.


page 3

page 5

page 6

page 9

page 11


The CAT Vehicle Testbed: A Simulator with Hardware in the Loop for Autonomous Vehicle Applications

This paper presents the CAT Vehicle (Cognitive and Autonomous Test Vehic...

Oscillation Damping Control of Pendulum-like Manipulation Platform using Moving Masses

This paper presents an approach to damp out the oscillatory motion of th...

SL Sensor: An Open-Source, ROS-Based, Real-Time Structured Light Sensor for High Accuracy Construction Robotic Applications

High accuracy 3D surface information is required for many construction r...

Modeling and Control of an Omnidirectional Micro Aerial Vehicle Equipped with a Soft Robotic Arm

Flying manipulators are aerial drones with attached rigid-bodied robotic...

Development of a 3D tongue motion visualization platform based on ultrasound image sequences

This article describes the development of a platform designed to visuali...

Three-Dimensional Dynamic Modeling and Motion Analysis for an Active-Tail-Actuated Robotic Fish with Barycentre Regulating Mechanism

Dynamic modeling has been capturing attention for its fundamentality in ...

A Nonlinear Observer for Free-Floating Target Motion using only Pose Measurements

In this paper, we design a nonlinear observer to estimate the inertial p...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.