Graphics enhanced version of this site

Control system of Self-Mobile Space Manipulator
Y. Xu, H. Brown, M. Friedman, and T. Kanade
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '92), Vol. 1, May, 1992, pp. 866 - 871.

Jump to: Download | Abstract | Notes | Text Reference | BibTeX Reference

Adobe portable document format (pdf) [511 KB]

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.

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.

Associated center: VASC
Associated project: Self-Mobile Space Manipulator

Y. Xu, H. Brown, M. Friedman, and T. Kanade, "Control system of Self-Mobile Space Manipulator," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '92), Vol. 1, May, 1992, pp. 866 - 871.

@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)",
   month = "May",
   year = "1992",
   volume = "1",
   pages = "866 - 871"
}