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.


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    Title :

    Study on Design Techniques for Robots (Space Applications). Volume 3. Executive Summary


    Contributors:

    Publication date :

    1985


    Size :

    44 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English