Title :
Control system of Self-Mobile Space Manipulator
Author :
Xu, Yangsheng ; Brown, Ben ; Friedman, Mark ; Kanade, Takeo
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
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
Keywords :
aerospace computer control; computerised monitoring; control systems; manipulators; mobile robots; space vehicles; 3D locomotion movements; SM2; Self-Mobile Space Manipulator; Space Station Freedom; aerospace computer control; computerised monitoring; control hardware architecture; control station; exterior surfaces; flexible robot; gravity compensation system; hierarchical control structure; inspection; low-level controllers; maintenance procedures; mobile robots; multiphase control strategy; operating system; operator-friendly real-time monitoring; parts transportation; robust control; simulated zero-gravity experiments; step motion; trusswork; Control systems; Gravity; Inspection; Legged locomotion; Manipulators; Motion control; Orbital robotics; Samarium; Space stations; Transportation;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.220187