This phase of the Intelligent Robotic Systems Study (IRSS) examines some basic dynamics and control issues for a space manipulator attached to its worksite through a compliant base. One example of this scenario is depicted, which is a simplified, planar representation of the Flight Telerobotic Servicer (FTS) Development Test Flight 2 (DTF-2) experiment. The system consists of 4 major components: (1) dual FTS arms to perform dextrous tasks; (2) the main body to house power and electronics; (3) an Attachment Stabilization and Positioning Subsystem (ASPS) to provide coarse positioning and stabilization of the arms, and (4) the Worksite Attachment Mechanism (WAM) which anchors the system to its worksite, such as a Space Station truss node or Shuttle bay platform. The analysis is limited to the DTF-2 scenario. The goal is to understand the basic interaction dynamics between the arm, the positioner and/or stabilizer, and the worksite. The dynamics and controls simulation model are described. Analysis and simulation results are presented.
Intelligent Robotic Systems Study (IRSS), Phase 3 (Final Report)
1991
36 pages
Report
Keine Angabe
Englisch
Manned Spacecraft , Robotics/Robots , Computers, Control & Information Theory , Artificial intelligence , Computerized simulation , Control systems design , Interactional aerodynamics , Manipulators , Mathematical models , Robotics , Teleoperators , Space stations , Anchors (Fasteners) , Dynamic control , Elastic properties , Positioning , Space station structures , Stabilization , Trusses
Development of a Tactical Helicopter Infrared Signature Suppression (IRSS) System
British Library Conference Proceedings | 1997
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