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

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...

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Bibliographic Details
Main Authors: Banerjee, Avijit, Haluska, Jakub, Satpute, Sumeet G., Kominiak, Dariusz, Nikolakopoulos, George
Format: Article in Journal/Newspaper
Language:unknown
Published: arXiv 2021
Subjects:
Robotics cs.RO
Systems and Control eess.SY
Dynamical Systems math.DS
FOS Computer and information sciences
FOS Electrical engineering, electronic engineering, information engineering
FOS Mathematics
Luleå
Online Access:https://dx.doi.org/10.48550/arxiv.2101.06335
https://arxiv.org/abs/2101.06335
Description
Summary: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.

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