A High-Fidelity Actuator Model for Robotic Autonomy in Space and Beyond

This work presents a generalized actuator modeling approach that enhances simulation accuracy, with applications extending beyond Mars exploration. Actuators are integral components in space robotics, where precision and reliability are paramount. The circa-2023 Sample Retrieval Lander (SRL) design exemplifies this, relying on a robotic arm to retrieve Mars sample tubes for return to Earth. With Earth–Mars round-trip communication delays on the order of minutes, direct human teleoperation is unsafe and impractical, necessitating autonomous execution through onboard kinematic controllers. Because the robotic arm represents a single point of failure in such a critical mission, we develop an exceptionally high-fidelity simulation environment to validate the controller design. Unlike many system simulations that idealize actuator performance to simplify computations, our model captures key dynamics often overlooked in traditional approaches. Its accuracy is validated through comparisons with real-world actuator tests, demonstrating both mission relevance for SRL and potential applicability to future space robotics systems.