Experimental validation of contact dynamics simulation of constrained robotic tasks

Dynamics simulation plays a key role in the design, verification, and opera tion planning of space manipulator systems because of the difficulties of g round-based physical tests with large,flexible robotic systems. Modeling of contact dynamics has increasingly become an essential step in dynamics sim ulation of space station robotic operations (such as the assembly and maint enance of the station). This role requires the modeling tool to have very h igh fidelity. This paper describes a research project aimed at experimental ly validating a general contact dynamics simulation software developed by M cDonald Dettwiler Space and Advanced Robotics Ltd (previously Spar Aerospac e Lid). The experimental tests were carried out in the robotics laboratory at the University of Victoria. The validation results demonstrated that the software is capable of predicting realistic contact behavior.