Air-Bearing Microgravity Simulators for Space Robotics

Ground testing is required to ensure that robotic systems will operate properly in the orbitalOrbital \i environmentEnvironment \b or on the surface of other planets, asteroids or comets with microgravity. Air-bearing microgravity simulators allow to emulate the dynamic behaviour of the satellite or the satellite-manipulator system operating in zero-g conditions. This chapter presents key functionalities and design parameters of planar and spherical air-bearing microgravity simulators. Applications of such simulators include, i.a., testing of manipulator hardware for on-orbit operations, trajectory planningPlanning \b and control of satellite-manipulator systems, demonstration of capture with a manipulator, close proximity operations and formation flight experiments. Various possible applications are reviewed and an example design of a low-cost, spherical air-bearing satellite simulator is presented. The chapter also outlines future directions of possible research and open issues.