The Stanford University Aerospace Robotics Laboratory, in cooperation with NASA, has developed an experimental model of a multi-manipulator, free-flying space robot capable of autonomously capturing and manipulating free-floating objects. Its mission is to rendezvous with, capture, transport, and deliver a spinning object, given only task-level commands supplied by a remote operator. A design philosophy that emphasized maintaining a systems perspective while utilizing a modular implementation guided virtually every phase of its development. A system architecture was developed around these concepts and served as the framework for designing and integrating the many pieces required to make this complete system fulfill its mission objectives. This architecture and its resulting implications on the system design that are the focus of this paper are discussed.<>


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    Title :

    A modular system architecture for multi-manipulator, free-flying space robots


    Contributors:
    Ullman, M.A. (author) / Cannon, R.H. (author) / Rock, S.M. (author)


    Publication date :

    1993-01-01


    Size :

    805221 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




    Control of Free-Flying Space Robot Manipulator Systems

    Cannon, Robert H., Jr. / Rock, Stephen M. / How, Jonathan | NTRS | 2000



    Control of Free-Flying Space Robot Manipulator Systems

    R. H. Cannon / S. M. Rock / J. How | NTIS | 2000