@ARTICLE{Seweryn_Karol_Design_2015,
 author={Seweryn, Karol and Grassmann, Kamil and Rutkowski, Konrad and Rybus, Tomasz and Wawrzaszek, Roman},
 volume={vol. 62},
 number={No 3},
 pages={377-394},
 journal={Archive of Mechanical Engineering},
 howpublished={online},
 year={2015},
 publisher={Polish Academy of Sciences, Committee on Machine Building},
 abstract={The process of designing control systems for devices operating in microgravity, on-orbit environment, requires testing to verify the effectiveness and characteristics of the algorithms. The key issue is to design a relevant environment in terrestrial conditions that affects both the linear and angular three-dimensional motion of a rigid body. This paper contains a description of the mechanical aspects of two test beds used to evaluate control algorithms planned for use in a space manipulator. Two solutions are presented: (i) a planar manipulator with a free base placed on an air-bearing table; and (ii) a test bed with a 7-DOF manipulator fixed through a force-torque measurement system to the base.},
 type={Artykuły / Articles},
 title={Design and development of two manipulators as a key element of a space robot testing facility},
 URL={http://www.czasopisma.pan.pl/Content/85039/PDF/06_paper.pdf},
 doi={10.1515/meceng-2015-0022},
 keywords={testing space manipulator, free floating space robot, air bearing table, microgravity operations, epicycloid gear},
}