DocumentCode :
2333436
Title :
Design of the control system for a robotic manipulator for Space-Station On-Orbit Replaceable Unit ground testing
Author :
Wu, Eugene ; Hwang, James ; Hankins, Scott
Author_Institution :
Lockheed Eng. & Sci. Co., Houston, TX, USA
fYear :
1994
fDate :
8-13 May 1994
Firstpage :
1415
Abstract :
Describes a hierarchical robot controller designed and built at NASA´s Johnson Space Center. The robot used is a six degree-of-freedom hydraulic manipulator equipped with joint position sensors and a wrist force/torque sensor. The objective of the project is to emulate the performance characteristics of the Space Station´s Special Purpose Dexterous Manipulator (SPDM), which will perform various telerobotic external maintenance tasks. Some features 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 force/moment data filter, a Cartesian-space controller, a host/traffic controller and a network communication controller. This paper describes the functions of each individual processor and the design of their inter-processor communication
Keywords :
aerospace computer control; control systems; hierarchical systems; maintenance engineering; manipulators; multiprocessing systems; position control; space vehicles; Cartesian-space controller; Space Station Special Purpose Dexterous Manipulator; Space-Station On-Orbit Replaceable Unit; force/moment accommodation; gravity compensation; ground testing; hierarchical robot controller; host/traffic controller; inter-processor communication; joint position sensors; multiple-processor control system; network communication controller; resolved position control algorithm; robotic manipulator; six degree-of-freedom hydraulic manipulator; telerobotic external maintenance tasks; wrist force/torque sensor; Communication system traffic control; Control systems; Force control; Force sensors; Manipulators; Orbital robotics; Robot control; Robot sensing systems; Sensor phenomena and characterization; Wrist;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
Type :
conf
DOI :
10.1109/ROBOT.1994.351291
Filename :
351291
Link To Document :
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