Control system of Self-Mobile Space Manipulator

Yangsheng Xu, H. Benjamin Brown, M. Friedman, and Takeo Kanade
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '92), May, 1992, pp. 866 - 871.


Download
  • Adobe portable document format (pdf) (512KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
Self-Mobile Space Manipulator (SM/sup 2/) is a simple, 5-DOF (degree-of-freedom), 1/3-scale, laboratory version of a robot designed to walk on the trusswork and other exterior surfaces of Space Station Freedom. It will be capable of routine tasks such as inspection, parts transportation, and simple maintenance procedures. The authors have designed and built the robot and gravity compensation system to permit simulated zero-gravity experiments. They have developed the control system for the SM/sup 2/ including control hardware architecture and operating system, control station with various interfaces, hierarchical control structure, multiphase control strategy for step motion, and various low-level controllers. The system provides operator-friendly real-time monitoring, and robust control for 3D locomotion movements of the flexible robot.

Notes
Associated Center(s) / Consortia: Vision and Autonomous Systems Center
Associated Project(s): Self-Mobile Space Manipulator

Text Reference
Yangsheng Xu, H. Benjamin Brown, M. Friedman, and Takeo Kanade, "Control system of Self-Mobile Space Manipulator," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '92), May, 1992, pp. 866 - 871.

BibTeX Reference
@inproceedings{Xu_1992_3544,
   author = "Yangsheng Xu and H. Benjamin Brown and M. Friedman and Takeo Kanade",
   title = "Control system of Self-Mobile Space Manipulator",
   booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '92)",
   pages = "866 - 871",
   month = "May",
   year = "1992",
   volume = "1",
}