Proceedings. Fourth Annual Conference on Intelligent Robotic Systems for Space Exploration最新文献

{"title":"Nonlinear Robust Controller Design for Multi-Robot Systems with Unknown Payloads","authors":"Y.D. Song, J.N. Anderson, A. Homaifar, H. Lai","doi":"10.1109/IRSSE.1992.671842","DOIUrl":"https://doi.org/10.1109/IRSSE.1992.671842","url":null,"abstract":"This work is concerned with the control problem of a multi-robot system handling a payload with unknown mass properties. Force constraints at the grasp points are considered. Robust control schemes are proposed that cope with the model uncertainty and achieve asymptotic path tracking. To deal with the force constraints, a strategy for optimally sharing the task is suggested. This strategy basically consists of two steps. The first detects the robots that need help and the second arranges that help. It is shown that the overall system is not only robust to uncertain payload parameters, but also satisfies the force constraints.","PeriodicalId":447045,"journal":{"name":"Proceedings. Fourth Annual Conference on Intelligent Robotic Systems for Space Exploration","volume":"342 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122755470","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Using Telerobotic Operations to Increase EVA Effectiveness: Aerobrake Assembly Neutral Buoyancy Testing","authors":"D. E. Anderson, D. G. James, T. Moore","doi":"10.1109/IRSSE.1992.671832","DOIUrl":"https://doi.org/10.1109/IRSSE.1992.671832","url":null,"abstract":"Space telerobotics have great potential for increasing the effectiveness of extravehicular activity (EVA), which is required for Space Station Freedom assembly and operation and is key to the feasibility of Space Exploration Initiative (SEI) missions. Current projected needs for EVA exceed the available resources. This paper will discuss results of neutral buoyancy assembly testing of the Mars aerobrake, which must be assembled or deployed on orbit, performed under McDonnell Douglas Space Systems Company independent research and development in April 1992. Guidelines will be suggested for dividing tasks between EVA and robotics, providing effective communications for joint EVAltelerobotic operations, ensuring safety of the EVA crew in proximity to a telerobot, providing adequate viewing for telerobot control, and evaluating hardware design for simultaneous EVA and telerobot compatibility. These results apply to Space Station Freedom operations as well as SEI missions.","PeriodicalId":447045,"journal":{"name":"Proceedings. Fourth Annual Conference on Intelligent Robotic Systems for Space Exploration","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133430388","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Finger Force and Touch Feedback Issues in Dexterous Telemanipulation","authors":"K. Shimoga","doi":"10.1109/IRSSE.1992.671841","DOIUrl":"https://doi.org/10.1109/IRSSE.1992.671841","url":null,"abstract":"Multifingered robotic hands, when used as the slave end effectors in teleoperation, have some advan- tages over the conventional parallel jaw grippers. Effec- tive teleoperation of such end effectors raises the prob- lem of using suitable master devices. The most appropri- ate master devices for this purpose are the instrumented gloves and the hand exoskeletons. When using such mas- ter devices, either for telemanipulation of objects or for interacting with virtual worlds, it is crucial to the success of the task that the human operator \"feels\" the grasping and manipulating forces exerted by the slave robotic fin- gers. This requires that the slave hand fingertip forces as well as the tactual sensations be fedback to the hu- man operator's fingers via the dexterous master. This paper thus has two goals. The first goal is to iden- tify and analyze some specific requirements on the design of dexterous master devices meant for teleoperating mul- tifingered robotic hands, within this context of finger force feedback. The requirements are of 2 categories: construc- tional and functional. The constructional issues consist of the isomorphism, portability, motion range capabil- ity, and accommodation for human hand size variability. The functional issues consist of the bandwidth compat- ibility with the human hand, which itself has asymmet- ric input/output characteristics, the proprioceptive (force limit) compatibility, and the consideration of the psycho- metric stability of the human hand in sensing force magni- tudes and variations. Also of importance is the sensitivity of the master device that must be more than that of the human hand. Also evaluated in this paper are the 14 existing designs of hand masters to see how well they satisfy the afore stated constructional and functional requirements. Only 6 are capable of feeding back the slave finger forces to that of the operator while none of them completely satisfy all the requirements listed above. Hence described at the end is a new design of a force feedback master aimed at satis- fying the requirements. Its fabrication and experimental demonstration, however, remain to be performed. The second goal of this paper is to evaluate the state-","PeriodicalId":447045,"journal":{"name":"Proceedings. Fourth Annual Conference on Intelligent Robotic Systems for Space Exploration","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114863538","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Vision-Guided Grasping of a Strut for Truss Structure Assembly","authors":"K.E. Nicewarner, R. Kelley","doi":"10.1109/IRSSE.1992.671835","DOIUrl":"https://doi.org/10.1109/IRSSE.1992.671835","url":null,"abstract":"Monocular information from a gripper-mounted camera is used to sew0 a robot gripper to grasp a strut. The procedure is divided into four phases: learn, recognition, alignment, and approach. In the learn phase, a strut is placed in the gripper and the pose estimate from the camera is used as a servo target. The recognition phase verifies the presence of a cylinder in the camera field of view. The alignment phase processes only selected scan regions in the image. Relative motion information a5 then used to generate an extrapolated posebased trajectory to guide the gripper to a certain dastance from the strut. The approach phase uses the last pose estimate and “blindly” moves to grasp the strut. By using a sample feducial stripe on the strut, rapid and robust vision-guided grasping can be achieved.","PeriodicalId":447045,"journal":{"name":"Proceedings. Fourth Annual Conference on Intelligent Robotic Systems for Space Exploration","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116964737","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A Fuzzy Controller for Space Manipulator Systems","authors":"R. J. Stanley, D. Gerber, J. Windsor, G. Lee","doi":"10.1109/IRSSE.1992.671839","DOIUrl":"https://doi.org/10.1109/IRSSE.1992.671839","url":null,"abstract":"In this paper, a robust robotic controller algorithm is developed using a fuzzy logic structure. A general rule base is formulated using quantization tables in conjunction with traditional PID control. This hybrid fuzzy controller has an advantage in that a broader range of uncertainties, including unknown initial conditions, may still be addressed and stabilized using this structure. An off-line tuning approach has been investigated using phase portraits to gain further insight into the algorithm. The approach has been tested in simulation on a threedegree of freedom revolute manipulator model as well as other system dynamics.","PeriodicalId":447045,"journal":{"name":"Proceedings. Fourth Annual Conference on Intelligent Robotic Systems for Space Exploration","volume":"179 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116220664","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"\"A Policy for Space Robotics?\"","authors":"L. Seidman","doi":"10.1109/IRSSE.1992.671828","DOIUrl":"https://doi.org/10.1109/IRSSE.1992.671828","url":null,"abstract":"This paper will briefly summarize the history of robotic systems in space and the technology required. It then outlives some of the problems in the current system, and summarizes a proposed policy statement.","PeriodicalId":447045,"journal":{"name":"Proceedings. Fourth Annual Conference on Intelligent Robotic Systems for Space Exploration","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131853648","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"The Servicing Aid Tool: A Teleoperated S,ystem for Space Applications","authors":"W. O. Keksz, J. L. Pullen, T. J. Manson, D.K. Martin, R. Wemeth","doi":"10.1109/IRSSE.1992.671833","DOIUrl":"https://doi.org/10.1109/IRSSE.1992.671833","url":null,"abstract":"The Servicing Aid Tool (SAT) is a teleoperated manipulation system designed for use on NASA's Space Shuttle. The system will assist extravehicular (EVA) servicing of spacecraft such as the Hubble Space Telescope. SAT components are spaceflight adaptations of existing ground-based designs from Robotics Research Corporation and Schilling Development, Incorporated. Fairchild Space is providing the control electronics, safety system, and flight integration. The manipulator consists of a 6-DOF Slave Arm mounted on a 1 -DOF Positioning Link in the Shuttle Payload Bay. The Slave Arm is controlled via a highly similar, 6-D0F, .force- reflecting Master Arm. This work is being performed under contract to Goddard Space Flight Center Code 442, Hubble Space Telescope Flight Systems and Servicing Project.","PeriodicalId":447045,"journal":{"name":"Proceedings. Fourth Annual Conference on Intelligent Robotic Systems for Space Exploration","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114620068","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"An Efficient Computation of Time-Optimal Control Trajectory for Robotilc Point-to-Point Motion","authors":"Yaobin Chen, Jian Huang","doi":"10.1109/IRSSE.1992.671829","DOIUrl":"https://doi.org/10.1109/IRSSE.1992.671829","url":null,"abstract":"This paper presents a two-phase computational method for time-optimal control of robotic systems with point-topoint motions. In the first phase, the original time-optimal control (TOC) problem with possible discontinuilies and singular arcs in control is convened into one with continuous and nonsingular control trajectories by adding to the performance index a perturbed energy term. The resultant two-point boundary value problem (TPBVP) can easily be solved for an appropriately large value of the pertwbation parameter. In the second phase, a continuation method is developed to obtain the solution to the original TOC problem by solving a set of initial value probliems sequentially andor in parallel. The proposed two-phase method is computationally eficient since the resulting TPBVP is solved only once and the remaining problem becomes solutions to a set of initial value sub-problems. The proposed algorithm is, therefore, applicable to more complex systems such as multi-am robot systems moving a common object. The practicability of the method is demonstrated by computer simulations on an [cxample robot system with different motion configurations.","PeriodicalId":447045,"journal":{"name":"Proceedings. Fourth Annual Conference on Intelligent Robotic Systems for Space Exploration","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124766960","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Space Shuttle to Space Station Freedom Berthing Dynamics Research at the NASA Langley Research Center","authors":"J. Garrison, R. Montgomery, Shih-Chin Wu, D. Ghosh, M. Demeo","doi":"10.1109/IRSSE.1992.671834","DOIUrl":"https://doi.org/10.1109/IRSSE.1992.671834","url":null,"abstract":"","PeriodicalId":447045,"journal":{"name":"Proceedings. Fourth Annual Conference on Intelligent Robotic Systems for Space Exploration","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130541040","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Telerobotic Operations Testing in Neutral Buoyancy Simulation","authors":"D. Akin, R. Howard","doi":"10.1109/IRSSE.1992.671831","DOIUrl":"https://doi.org/10.1109/IRSSE.1992.671831","url":null,"abstract":"Although a great deal of research is currently underway to develop advanced technologies for space telerobots, less attention has traditionally been paid to understanding the potential roles of robotics in future space endeavors. For the past decade, the Space Systems Laboratory has focused on the development of integrated telerobot systems, and evaluated them for their impact in space operations. This paper starts with a review of space simulation options for ground-based research, and summarizes the decision path that led to the extensive use of neutral buoyancy simulation by the SSL. It then presents an overview of the current and near-term operational telerobotic systems of the SSL, which includes one vehicle designed for the assembly of space structures, four free-flying mobility devices, a modular positioning manipulator, and an advanced satellite servicing system with 32 major degrees of freedom. Experimental results from each of these vehicles are summarized, both as independent systems and in cooperative tests with each other and with humans in extravehicular operations. Finally, future plans for the laboratory will be discussed, including the preparation of a telerobotic space flight experiment to correlate the neutral buoyancy test results. Background","PeriodicalId":447045,"journal":{"name":"Proceedings. Fourth Annual Conference on Intelligent Robotic Systems for Space Exploration","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125067909","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}