Hardware-in-the-loop emulation for 6-DOF free-floating spacecraft using active gravity compensation with a collaborative robot

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dc.contributor.authorJahanshahi, Hadi
dc.date.accessioned2026-07-06T22:11:38Z
dc.date.available2026-07-06T22:11:38Z
dc.date.issued2026-05-28
dc.description© 2026 The Authors. Published by Elsevier Ltd on behalf of IAA. This is an open access article under the CC BY license ( http://creativecommons.org/licenses/by/4.0/ ).
dc.description.abstractThis technical note presents a hardware-in-the-loop testbed that uses a UR10e collaborative robot to emulate 6-DOF free-floating spacecraft motion through active gravity compensation. Experimental validations across all three Cartesian axes demonstrated high translational fidelity with a mean speed correlation of 0.9992 between the measured robot trajectory and an independently initialized rigid-body simulation, low residual forces below the controller deadband, and minor rotational errors of 2° to 6° attributed to kinematic coupling through the robot joint structure. The platform provides a cost-effective testbed for ground-based emulation of free-floating spacecraft dynamics.
dc.description.sponsorshipThis work was supported by the Discovery Grant (RGPIN-2024-06290) and Collaborative Research and Training Experience Program Grant (555425-2021) of the Natural Sciences and Engineering Research Council of Canada. The authors also acknowledge support from the Natural Sciences and Engineering Research Council of Canada (NSERC) through a Postgraduate Scholarship – Doctoral (PGS D). Nous remercions le Conseil de recherches en sciences naturelles et en génie du Canada (CRSNG) de son soutien par l'entremise d'une bourse d'études supérieures du doctorat (BES D).
dc.identifier.citationJahanshahi, H., Alizadeh, M., & Zhu, Z. H. (2026). Hardware-in-the-loop emulation for 6-DOF free-floating spacecraft using active gravity compensation with a collaborative robot. Acta Astronautica, 247, 782–794. https://doi.org/10.1016/j.actaastro.2026.05.058
dc.identifier.issn1879-2030
dc.identifier.issn0094-5765
dc.identifier.urihttps://doi.org/10.1016/j.actaastro.2026.05.058
dc.identifier.urihttps://hdl.handle.net/10315/43806
dc.language.isoen
dc.publisherElsevier
dc.rightsAttribution 4.0 Internationalen
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/
dc.subjectFree-floating spacecraft
dc.subjectHardware-in-the-loop emulation
dc.subjectGround testbed
dc.subjectActive gravity compensation
dc.subjectAdmittance control
dc.subjectSpace robotics
dc.subjectCollaborative robot
dc.subjectMicrogravity emulation
dc.subjectSpacecraft dynamics
dc.subjectRobot trajectory tracking
dc.titleHardware-in-the-loop emulation for 6-DOF free-floating spacecraft using active gravity compensation with a collaborative robot
dc.typeArticle

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