The simulated microgravity environment aboard a KC-135 aircraft flying along a parabolic trajectory was used to study the ability of an autonomous space robot to grasp a freely translating and rotating object. Since the KC-135 cabin environment and the instrumentation for the Extravehicular Activity Helper/Retriever (EVAHR) do not provide a practical intertial reference frame, estimators based on the extended Kalman filter algorithm were used to model the relative translational dynamics of the KC-135 and the EVAHR. The estimator algorithms require intensive mathematical computation and therefore, i860 real-time. Estimator design, implementation concerns, and issues specific to the KC-135 environment are discussed and the architecture of the KC-135 translational state estimator is depicted.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    Motion estimation of objects in KC-135 microgravity


    Beteiligte:
    Hewgill, Lisa (Autor:in)


    Erscheinungsdatum :

    1994-03-01


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Keine Angabe


    Sprache :

    Englisch


    Schlagwörter :


    Orbiter Motion - Microgravity and pointing

    SCHWANIGER, JR., ARTHUR / BAILEY, WAYNE / TVEEKREM, JUNE | AIAA | 1988


    Motion in a Microgravity Environment

    Shebalin, J. V. / American Institute of Aeronautics and Astronautics | British Library Conference Proceedings | 1999


    Motion in a Microgravity Environment

    John V. Shebalin | AIAA | 2000


    Motion in a microgravity environment

    Shebalin, J.V. | Tema Archiv | 2000


    Motion in a microgravity environment

    Shebalin, John | AIAA | 1999