This article proposes a passivity-based approach for simulating satellite dynamics on a position-controlled robot equipped with a force–torque sensor. Time delays intrinsic in the computational loop and discrete-time integration degrade the behavior of the satellite dynamics reproduced by the robot. These factors can generate an energy-inconsistent simulation and can even render the system unstable. In this article, time delay and discrete-time integration effects are analyzed from an energetic perspective and compensated through a passivity-based control strategy to ensure a faithful and stable dynamic simulation with position-controlled robots. The benefit of the proposed strategy is validated by simulations and experiments on the On-Orbit Servicing Simulator (OOS-SIM), a robotic facility used for simulating free-floating dynamics.

中文翻译：

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用机器人模拟卫星动力学的一种基于被动的方法：离散时间积分和时延补偿

本文提出了一种基于被动的方法，用于在配备有力-扭矩传感器的位置控制机器人上模拟卫星动力学。计算循环中固有的时间延迟和离散时间积分会降低机器人再现的卫星动力学行为。这些因素会产生能量不一致的模拟，甚至会使系统不稳定。在本文中，从能量的角度分析了时间延迟和离散时间积分效应，并通过基于被动的控制策略进行补偿，以确保位置控制机器人的动态模拟真实而稳定。通过在轨服务模拟器 (OOS-SIM) 上的模拟和实验验证了所提出策略的好处，OOS-SIM 是一种用于模拟自由浮动动力学的机器人设施。