Robots operating in the microgravity environment of an orbiting laboratory should be capable of manipulating payloads such that the motion of the robot does not disturb adjacent experiments. The current results of a NASA Lewis Research Center technology program to develop smooth, reaction-compensated manipulation based on both mechanism technology and trajectory planning strategies are present. Experimental validation of methods to reduce robot base reactions through the use of redundant degrees of freedom is discussed. Merits of smooth operation roller-driven robot joints for microgravity manipulators are also reviewed.


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    Title :

    Reaction-Compensation Technology for Microgravity Laboratory Robots


    Contributors:
    D. A. Rohn (author) / C. Lawrence (author) / J. H. Miller (author)

    Publication date :

    1990


    Size :

    5 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




    Reaction-compensation technology for microgravity laboratory robots

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    Reaction-compensation technology for microgravity laboratory robots

    Rohn, Douglas A. / Lawrence, Charles / Miller, Jeffrey H. | NTRS | 1990



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