Title :
A ground testbed for evaluating concepts for the special purpose dexterous manipulator
Author :
Mack, B. ; McClure, S. ; Ravindran, R.
Author_Institution :
Spar Aerosp. Ltd., Weston, Ont., Canada
Abstract :
The mobile servicing system is being developed in order to assist with the construction and maintenance of the International Space Station Freedom. One important element of the mobile servicing system is the special-purpose dexterous manipulator (SPDM). It is designed to maintain both the mobile servicing system and the space station. The SPDM ground testbed (SPDM-GT) was created to provide facilities for the proof-of-principle demonstrations of advanced technology areas for the SPDM. The mechanical, computer, and software design of the SPDM-GT is discussed, and an overview is given of some of the control experiments that are currently underway
Keywords :
maintenance engineering; mobile robots; software engineering; space vehicles; International Space Station Freedom; control experiments; ground testbed; mobile servicing system; proof-of-principle demonstrations; software design; software engineering; special purpose dexterous manipulator; Aerospace testing; Arm; Force sensors; Hardware; International Space Station; Manipulators; Mechanical cables; Orbital robotics; Robot sensing systems; Space stations;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131699
