应用于空间站的五自由度行走机器人的研制:综述

1990 IEEE International Conference on Systems Engineering Pub Date : 1990-08-09 DOI:10.1109/ICSYSE.1990.203131

H. Brown, M. Friedman, T. Kanade

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引用次数: 15

摘要

概述了NASA空间站上使用的机器人行走器的发展。该机器人被设计用于执行检查、运输零件和简单操作等任务。讨论了机器人的硬件和夹持器、实现高柔性三维机器人精确稳定控制的实时控制硬件和软件以及重力补偿系统

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Development of a 5-DOF walking robot for Space Station application: overview

An overview of the development of a robot walker for use on the NASA Space Station is presented. The robot is designed to perform such tasks as inspection, transport of parts, and simple manipulation. The robot hardware and grippers, the real-time control hardware and software for precise, stable control of the highly flexible, three-dimensional robot, and a gravity compensation system are discussed

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来源期刊

1990 IEEE International Conference on Systems Engineering

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