Abstract:In this paper we describe a hierarchid robot controller designed and built at NASA's Johnson Space Center. The mbot used is a six dep-of-freedom hydraulic manipulator equipped with joint position sensors and a wrist forcebrque sensor. The objective of the project is to emulate the performance chcteristics of the Space Station's Special Purpose Dexterous Manipulator (SPDM), which will perform various telerobotic extemal maintenance tasks. Some feaaues implemented in the controller include a resolved position co… Show more
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