Title :
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
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;
Conference_Titel :
Computational Intelligence in Robotics and Automation, 2001. Proceedings 2001 IEEE International Symposium on
Print_ISBN :
0-7803-7203-4
DOI :
10.1109/CIRA.2001.1013218
