Title :
Human-robot cooperation in space: SM2 for new space station structure
Author :
Nechyba, Michael C. ; Xu, Yangsheng
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
fDate :
12/1/1995 12:00:00 AM
Abstract :
The self-mobile space manipulator (SM2) is a seven-DOF inspection robot, capable of walking along the pre-integrated I-beam truss structure of Space Station Freedom (SSF). The robot is capable of projecting cameras anywhere interior or exterior of the SSF, and will be an ideal tool for inspecting connectors, structures, and other facilities on the SSF. Using a full-scale model of a small segment of the SSF, experiments have been performed under two gravity compensation systems
Keywords :
inspection; man-machine systems; manipulators; mobile robots; path planning; real-time systems; robot kinematics; robot vision; space vehicles; telerobotics; 7-DOF inspection robot; SM2; Space Station Freedom; gravity compensation system; human-robot cooperation; kinematics; real time control; self-mobile space manipulator; truss structure; Cameras; Connectors; Gravity; Inspection; Legged locomotion; Manipulators; Orbital robotics; Robot vision systems; Samarium; Space stations;
Journal_Title :
Robotics & Automation Magazine, IEEE
