A research program to develop technology for robots operating in the microgravity environment of the space station laboratory is described. These robots must be capable of manipulating payloads without causing them to experience harmful levels of acceleration, and the motion of these robots must not disturb adjacent experiments and operations by transmitting reactions that translate into damaging effects throughout the laboratory. Solutions to these problems, based on both mechanism technology and control strategies, are discussed. Methods are presented for reduction of robot base reactions through the use of redundant degrees of freedom, and the development of smoothly operating roller-driven robot joints for microgravity manipulators is discussed.
Microgravity robotics technology program
1988-01-01
Conference paper
No indication
English
Microgravity mechanisms and robotics program
NTRS | 1988
|Microgravity Mechanisms and Robotics Program
NTIS | 1988
|NASA Automation and Robotics Technology Program
IEEE | 1987
|