As manned space flight passes into its fourth decade, many of the activities in space appear to be almost routine. However, the space environment is exceedingly hostile to humans and necessitates substantial effort and funding to provide an infrastructure to support human life. Increased attention is therefore being directed toward the application of robotics technology to more effectively carry out tasks in space which, up to now, have been carried out by human extravehicular activity (EVA), or which could not be carried out because of human limitations or limitations of available equipment. Manipulator systems are better suited to operation in the external space environment and can augment or replace the human presence. They can also play an important role in the spacecraft intravehicular activity (IVA) to replace some of the human tasks. To date few robots have been developed for space applications; however, as human activity increases in earth orbit and beyond, robotic systems will play an increasingly vital role. Control and operation of space manipulator systems are addressed with emphasis on those designed for the external space environment. Applications of the technology are discussed in the context of the Mobile Servicing System (MSS) being developed for the International Space Station. The Mobile Servicing System incorporates two manipulator systems, the Space Station Remote Manipulator System (SSRMS) and the Special Purpose Dexterous Manipulator (SPDM). The modes of operation and selectable control features are discussed with some of the more advanced features demonstrated by simulation and laboratory test results.


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    Titel :

    Control and Operation of Space Manipulator Systems


    Beteiligte:
    C. P. Trudel (Autor:in) / D. G. Hunter (Autor:in) / M. E. Stieber (Autor:in)

    Erscheinungsdatum :

    1994


    Format / Umfang :

    19 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch





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