太空机器人的实验室测试平台:VES II

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI:10.1109/IROS.1994.407647

S. Dubowsky, W. Durfee, Thomas Corrigan, Andrew Kuklinski, U. Müller

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引用次数: 39

摘要

在微重力环境下，空间机器人机械臂与其基座之间的动态相互作用使其难以控制并导致系统性能下降。过去提出的补偿这种动态相互作用的控制和规划算法缺乏足够的实验评估。为模拟空间机器人系统的动态行为并研究所提出的规划和控制算法，开发并建立了一个实验室试验台。介绍了在实验室中消除重力影响的两种方法。实验结果表明，该试验台在研究空间机械臂与航天器的动力学耦合方面是有效的

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A laboratory test bed for space robotics: the VES II

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.<>

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Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)

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