The goal of the research is to develop and test control strategies for a self-contained, free flying space robot. Such a robot would perform operations in space similar to those currently handled by astronauts during extravehicular activity (EVA). The focus of the work is to develop and carry out a program of research with a series of physical Satellite Robot Simulator Vehicles (SRSV's), two-dimensionally freely mobile laboratory models of autonomous free-flying space robots such as might perform extravehicular functions associated with operation of a space station or repair of orbiting satellites. The development of the SRSV and of some of the controller subsystems are discribed. The two-link arm was fitted to the SRSV base, and researchers explored the open-loop characteristics of the arm and thruster actuators. Work began on building the software foundation necessary for use of the on-board computer, as well as hardware and software for a local vision system for target identification and tracking.


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    Title :

    Control of a free-flying robot manipulator system


    Contributors:

    Publication date :

    1985-07-01


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English







    Control of Free-Flying Space Robot Manipulator Systems

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