Control system of Self-Mobile Space Manipulator

Self-Mobile Space Manipulator (SM²) 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 SM² 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