Contact Dynamics Simulation for Space Robotics Applications

This paper presents two examples of contact dynamics simulations for space robotics application: Satellite docking in GEO and rover locomotion on planetary surfaces. The contact modeling techniques include a) contact between polygonal surfaces according to the elastic foundation model theory and b) contact between digital elevation grid surfaces and point cloud surfaces with application of Bekker’s empirical terramechanics functions. The simulation results, which are taken from the ongoing projects SMART-OLEV (satellite docking simulation) and ExoMars (drawbar pull test simulation), demonstrate that contact dynamics simulations can provide helpful inputs in terms of feasibility confirmation and system design.