A ground testbed for evaluating concepts for the special purpose dexterous manipulator

Author

Mack, B. ; McClure, S. ; Ravindran, R.

Author_Institution

Spar Aerosp. Ltd., Weston, Ont., Canada

fYear

1991

fDate

9-11 Apr 1991

Firstpage

884

Abstract

The mobile servicing system is being developed in order to assist with the construction and maintenance of the International Space Station Freedom. One important element of the mobile servicing system is the special-purpose dexterous manipulator (SPDM). It is designed to maintain both the mobile servicing system and the space station. The SPDM ground testbed (SPDM-GT) was created to provide facilities for the proof-of-principle demonstrations of advanced technology areas for the SPDM. The mechanical, computer, and software design of the SPDM-GT is discussed, and an overview is given of some of the control experiments that are currently underway

Keywords

maintenance engineering; mobile robots; software engineering; space vehicles; International Space Station Freedom; control experiments; ground testbed; mobile servicing system; proof-of-principle demonstrations; software design; software engineering; special purpose dexterous manipulator; Aerospace testing; Arm; Force sensors; Hardware; International Space Station; Manipulators; Mechanical cables; Orbital robotics; Robot sensing systems; Space stations;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Conference_Location

Sacramento, CA

Print_ISBN

0-8186-2163-X

Type

conf

DOI

10.1109/ROBOT.1991.131699

Filename

131699