New control techniques for self contained, autonomous free flying space robots were developed and tested experimentally. Free flying robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require human extravehicular activity (EVA). A set of research projects were developed and carried out using lab models of satellite robots and a flexible manipulator. The second generation space robot models use air cushion vehicle (ACV) technology to simulate in 2-D the drag free, zero g conditions of space. The current work is divided into 5 major projects: Global Navigation and Control of a Free Floating Robot, Cooperative Manipulation from a Free Flying Robot, Multiple Robot Cooperation, Thrusterless Robotic Locomotion, and Dynamic Payload Manipulation. These projects are examined in detail.
Control of Free-Flying Space Robot Manipulator Systems
1990
34 pages
Report
No indication
English
Extraterrestrial Exploration , Computers, Control & Information Theory , Control systems design , Ground effect machines , Manipulators , Robot arms , Robot control , Robot dynamics , Aerospace systems , Drag reduction , Extravehicular activity , Free flight , Gravitational effects , Orbital servicing , Robotics , Weightlessness
Control of free-flying space robot manipulator systems
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