Life cycle support for the robotic systems of the Canadian Space Station program has required the codevelopment of a 'Manipulator Development and Simulation Facility' (MDSF). The MDSF is an extensive hardware and software complex with capabilities for real-time and nonreal-time simulation, astronautic/operator training, orbital operations support, control station design, and system testing. This paper describes the overall configuration of MDSF, discusses its unique design attributes, identifies manipulator modelling and performance capabilities, and supplies a current project status. Of particular interest is the facility's capabilities for generalized robotics modeling and simulation. Aspects include software reconfigurable control and display stations, a buidling block appraoch to system synthesis, and generic modeling of robotic dynamics. The latter is implemented using modern recursive and non-recursive multibody formulations whose capabilities range from simple chains of robotic links, through to topological trees of multiple, interacting manipulators.


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    Title :

    The manipulator development and simulation facility for space station robotics


    Additional title:

    Manipulatorentwicklung und Simulationseinrichtung für Raumstationsroboter


    Contributors:
    Malich, G. (author) / Carr, R. (author)


    Publication date :

    1990


    Size :

    8 Seiten, 5 Bilder


    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English






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