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NASA GSFC and WVRTC Compliance Testing

NASA GSFC is developing compliance control for the robotic operations related to the autonomous capture of space assets.  A compliant robot response to force and torque inputs is needed when testing capture contact dynamics. Variations to the laws also include a dynamic robot response that mimics the way an space system would respond to a contacting force in a zero-gravity environment.   The video shows the first integration of the control laws at WVRTC and response to a human operator input under four different settings: Return to Setpoint, Viscously Damped System, Space System (orientation off), and Space System (orientation on).

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