Title :
A laboratory test bed for space robotics: the VES II
Author :
Dubowsky, Steven ; Durfee, William ; Corrigan, Thomas ; Kuklinski, Andrew ; Müller, Uwe
Author_Institution :
Dept. of Mech. Eng., MIT, Cambridge, MA, USA
Abstract :
The dynamic interaction between a space robotic manipulator and its base in micro-gravity can make it difficult to control and lead to system performance degradation. Control and planning algorithms proposed in the past to compensate for this dynamic interaction have lacked sufficient experimental evaluation. A laboratory test bed is described which was developed and built to emulate the dynamic behavior of space robotic systems and investigate proposed planning and control algorithms. Two methods for removing the effects of gravity in the laboratory are presented. Experimental results demonstrate the effectiveness of this test bed in studying the dynamic coupling between a space manipulator and its spacecraft
Keywords :
aerospace control; aerospace simulation; control engineering computing; manipulator dynamics; VES II; control algorithms; dynamic coupling; dynamic interaction; laboratory test bed; micro-gravity; performance degradation; planning algorithms; space robotic manipulator; spacecraft; Control systems; Emulation; Gravity; Laboratories; Manipulator dynamics; Orbital robotics; Space technology; Space vehicles; System testing; Vehicle dynamics;
Conference_Titel :
Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on
Conference_Location :
Munich
Print_ISBN :
0-7803-1933-8
DOI :
10.1109/IROS.1994.407647
