A space manipulator system is defined, and the kinematics and dynamics of the system are outlined. A system with seven degrees of freedom, rotating joints, electrical actuation, a toroidal work area, and planar/rotational maneuvering is advocated. Its basic application is servicing and maintenance of low Earth Orbit platforms for materials processing. The fully extended arm must be able to move a 750 kg payload at 0.02 m/sec. A dedicated programming system must be defined for collision and obstacle avoidance. Control aspects; electrical architecture; and software organization were analyzed. Work required to develop the robot was identified. Active force feedback control is advocated.
Study on Design Techniques for Robots (Space Applications). Volume 3. Executive Summary
1985
44 pages
Report
No indication
English
Space Technology , Tooling, Machinery, & Tools , Manipulators , Robotics , Robots , Space maintenance , Space stations , Systems engineering , Collision avoidance , Computer systems programs , Control systems design , Electrical engineering , Equations of motion , Kinematics , Remote control , Foreign technology