Abstract—This article presents a detailed technical description of “SpaceSysLab” simulator ACRS, located at INCAS South – Muntenia Region, Prahova, Maneciu, Romania. It is a robotic test bench for tests, verification and validation of R&D systems. Both open loop and closed loop tests can be performed at “SpaceSysLab”, where the facility supports different applications. Also the work gives an overview GNC computational algorithms for real time applications in R&D motion. The research of the air cold thruster measurement was to estimate the thrust force of the proposed model for ACRS in laboratory environment. We also designed and manufactured the thruster devices that included the thruster calibration on air cushion robots.
Considering the maneuver of rendezvous between two spacecrafts a PID control has been adopted to guaranty the stability of the air cushion robot motion, taking in account possible uncertainty representing unmodeled dynamics and neglecting nonlinearities.
Index Terms—Air bearing test bench, air cushion robot, GNC software, HIL.
The authors are with the National Institute of Aerospace Research, Bucharest, Romania (e-mail: ionita.achim@inas.ro, guta.dragos@incas.ro, andrei.marina@incas.ro, bangden33468@gmail.com, apostolescu.nicolae@incas.ro, lungoci.andrei@incas.ro, stoian.stefan@incas.ro, nichifor.sandra@incas.ro).
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Cite: Achim Ioniță, Dragoș Daniel Guță, Thien Van Nguyen, Andrei Lungoci, Ștefan Stoian, and Sandra Elena Nichifor, "Air Cushion Robots Ground Testing Bed Experiments and Control Algorithm for Autonomous Rendezvous and Docking," International Journal of Modeling and Optimization vol. 9, no. 5, pp. 277-284, 2019.
