Technology transfer and evaluation for Space Station telerobotics

Price, Chester W.; Stokes, Lebarian; Diftler, Myron

doi:10.2514/6.1994-1190

Conference on Intelligent Robots in Factory, Field, Space, and Service 1994

DOI: 10.2514/6.1994-1190

|View full text |Cite

Technology transfer and evaluation for Space Station telerobotics

Chester W. Price

Lebarian Stokes²,

Myron Diftler³

Abstract: The international Space Station

Help me understand this report

Search citation statements

Order By: Relevance

Paper Sections

Select...

Citation Types

Supporting

Mentioning

Contrasting

Publication Types

Select...

Other1

Relationship

Self Cite0

Independent1

Authors

Journals

Cited by 1 publication

References 2 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

Design of the control system for a robotic manipulator for Space-Station On-Orbit Replaceable Unit ground testing

Hwang

Hankins³

Proceedings of the 1994 IEEE International Conference on Robotics and Automation

View full text Add to dashboard Cite

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 control algorithm, force/moment accommodation, and gravity compensation. This multiple-processor control system is divided, by processor, into a servo controller, a forcehnoment data filter, a Cartesian-space controller, a host/Mic conmller and a network communication controller. This paper describes the functions of each individual processor and the design of their inter-processor communication.

show abstract

Design of the control system for a robotic manipulator for Space-Station On-Orbit Replaceable Unit ground testing

Hwang

Hankins³

Proceedings of the 1994 IEEE International Conference on Robotics and Automation

View full text Add to dashboard Cite

show abstract

scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.

Contact Info

hi@scite.ai

10624 S. Eastern Ave., Ste. A-614

Henderson, NV 89052, USA

Blog Terms and Conditions API Terms Privacy Policy Contact Cookie Preferences Do Not Sell or Share My Personal Information

Made with 💙 for researchers

Part of the Research Solutions Family.

Technology transfer and evaluation for Space Station telerobotics

Abstract: The international Space Station

Cited by 1 publication

References 2 publications

Design of the control system for a robotic manipulator for Space-Station On-Orbit Replaceable Unit ground testing

Design of the control system for a robotic manipulator for Space-Station On-Orbit Replaceable Unit ground testing

Contact Info

Product

Resources

About