Using robots for astronaut training

Author

Carignan, Craig R. ; Akin, David L.

Author_Institution

Dept. of Aerosp. Eng., Maryland Univ., College Park, MD, USA

Volume

23

Issue

2

fYear

2003

fDate

4/1/2003 12:00:00 AM

Firstpage

46

Lastpage

59

Abstract

The drive for a more accurate and easily "reconfigurable" on-orbit simulation has spawned the development of "robotic" mockups for use in extravehicular activity (EVA) training. While it is apparent that no technique can exactly mimic the test space environment, this article describes work in progress at the University of Maryland to incorporate actively controlled mockups, capable of simulating free-floating satellites and robotic systems, into a neutral buoyancy environment. A set of potential requirements for robotic training devices is outlined, and the strengths and weaknesses of several candidate configurations are compared. Free-floating satellites between 125 and 1,000 kg were successfully simulated using the baseline admittance controller running on a serial manipulator.

Keywords

aerospace robotics; aerospace simulation; dexterous manipulators; force feedback; haptic interfaces; space research; training; zero gravity experiments; 125 to 1000 kg; actively controlled mockups; admittance control; astronaut training; baseline admittance controller; dexterous manipulators; extravehicular activity training; force feedback; free-floating satellites; haptic devices; impedance control; neutral buoyancy environment; reconfigurable on-orbit simulation; robotic mockups; robotic systems; serial manipulator; serial-link manipulator; test space environment; velocity compensation; zero-gravity simulation; Aerodynamics; Aerospace simulation; Aerospace testing; Electronic equipment testing; NASA; Orbital robotics; Robots; Satellites; Space shuttles; Space vehicles;

fLanguage

English

Journal_Title

Control Systems, IEEE

Publisher

ieee

ISSN

1066-033X

Type

jour

DOI

10.1109/MCS.2003.1188771

Filename

1188771