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.
Motion estimation of objects in KC-135 microgravity
1994-03-01
Aufsatz (Konferenz)
Keine Angabe
Englisch
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