Trajectory generation of space telerobots

The purpose is to review a variety of trajectory generation techniques which may be applied to space telerobots and to identify problems which need to be addressed in future telerobot motion control systems. As a starting point for the development of motion generation systems for space telerobots, the operation and limitations of traditional path-oriented trajectory generation approaches are discussed. This discussion leads to a description of more advanced techniques which have been demonstrated in research laboratories, and their potential applicability to space telerobots. Examples of this work include systems that incorporate sensory-interactive motion capability and optimal motion planning. Additional considerations which need to be addressed for motion control of a space telerobot are described, such as redundancy resolution and the description and generation of constrained and multi-armed cooperative motions. A task decomposition module for a hierarchical telerobot control system which will serve as a testbed for trajectory generation approaches which address these issues is also discussed briefly

Recommended fine positioning test for the Development Test Flight (DTF-1) of the NASA Flight Telerobotic Servicer (FTS)

Test procedures are proposed for the NASA DTF (Development Test Flight)-1 positioning tests of the FTS (Flight Telerobotic Servicer). The unique problems associated with the DTF-1 mission are discussed, standard robot performance tests and terminology are reviewed and a very detailed description of flight-like testing and analysis is presented. The major technical problem associated with DTF-1 is that only one position sensor can be used, which will be fixed at one location, with a working volume which is probably smaller than some of the robot errors to be measured. Radiation heating of the arm and the sensor could also cause distortions that would interfere with the test. Two robot performance testing committees have established standard testing procedures relevant to the DTF-1. Due to the technical problems associated with DTF-1, these procedures cannot be applied directly. These standard tests call for the use of several test positions at specific locations. Only one position, that of the position sensor, can be used by DTF-1. Off-line programming accuracy might be impossible to measure and in that case it will have to be replaced by forward kinetics accuracy

History of NAMRI and NAMRC

History of NAMRI and NAMR