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The European Proximity Operation Simulator (EPOS) of the DLR-German AerospaceCenter is a robotics-based simulator that aims at validating and verifying asatellite docking phase. The generic concept features a robotics trackingsystem working in closed loop with a force/torque feedback signal. Inherentdelays in the tracking system combined with typical high stiffness at contactchallenge the stability of the closed-loop system. The proposed concept ofoperations is hybrid: the feedback signal is a superposition of a measuredvalue and of a virtual value that can be tuned in order to guarantee a desiredbehavior. This paper is concerned with an analytical study of the system'sclosed-loop stability, and with an experimental validation of the hybridconcept of operations in one dimension (1D). The robotics simulator is modeledas a second-order loop-delay system and closed-form expressions for thecritical delay and associated frequency are derived as a function of thesatellites' mass and the contact dynamics stiffness and damping parameters. Anumerical illustration sheds light on the impact of the parameters on thestability regions. A first-order Pade approximation provides additional meansof stability investigation. Experiments were performed and tests results aredescribed for varying values of the mass and the damping coefficients. Theempirical determination of instability is based on the coefficient ofrestitution and on the observed energy. There is a very good agreement betweenthe critical damping values predicted by the analysis and observed during thetests...

Analytical and experimental stability investigation of a hardware-in-the-loop satellite docking simulator