Controlling robots on-orbit

Author

Carignan, Craig R. ; Lane, J. Corde ; Churchill, Philip J.

Author_Institution

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

fYear

2001

fDate

2001

Firstpage

314

Lastpage

319

Abstract

Space and underwater vehicles with robotic manipulators can severely tax the capability of conventional control architectures. In this report, the control system and operator interface for a submersible vehicle used in microgravity simulation are examined. The architecture of the onboard controller and the control station are described as well as the vehicle/operator communications. The control approach is demonstrated on the Ranger Neutral Buoyancy Vehicle (NBV) currently in operation at the Space Systems Laboratory at the University of Maryland.

Keywords

aerospace robotics; aerospace test facilities; artificial satellites; manipulators; underwater vehicles; NBV; Ranger Neutral Buoyancy Vehicle; Space Systems Laboratory; Space vehicles; microgravity simulation; operator interface; orbital robot control; robotic manipulators; submersible vehicle; underwater vehicles; vehicle/operator communications; Arm; Communication system control; Control systems; Mobile robots; Orbital robotics; Remotely operated vehicles; Robot control; Space shuttles; Space vehicles; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 2001. Proceedings 2001 IEEE International Symposium on

Print_ISBN

0-7803-7203-4

Type

conf

DOI

10.1109/CIRA.2001.1013218

Filename

1013218