Results of the M.I.T. Beam Assembly Teleoperator and Integrated Control Station

Spofford, John R.; Akin, David L.

doi:10.2514/6.1984-1890

Cited by 4 publications

(1 citation statement)

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“…This system is described in detail elsewhere. 2 This work focuses on teleoperation in the 0-g drag-free space environment, but the results are generally applicable to undersea teleoperation as well.…”

Section: Free-flying Manipulationmentioning

confidence: 99%

Redundancy control of a free-flying telerobot

Spofford¹,

Akin

1990

Journal of Guidance, Control, and Dynamics

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Manipulation from a free-flying vehicle has applications in space and undersea teleoperation. Both environments allow a vehicle to move freely in all six degrees of freedom. For many operations, such as inspection and servicing, the ability to manipulate from an undocked teleoperator will be essential. The major contribution of this research is the development of a control algorithm, coordinated control, which allows the simultaneous reduced-order control of a vehicle and attached manipulator/The entire telerobot system is controlled by commanding the end effector inertially with respect to the task. This is accomplished through a unified treatment of the vehicle and manipulator as a single dynamic system, based on considering the free-flying teleoperator as a redundant manipulator. The vehicle controller minimizes fuel expenditure while maintaining a desirable manipulator configuration. The coordinated trajectory algorithm is a blend of two modes: gradient pseudo-inverse trajectory control, which uses both vehicle thrust and manipulator motion, and reaction-compensation trajectory control, which allows the base to react freely to manipulator interaction torques. Blending between these modes occurs as a function of the teleoperator's configuration potential. The potential incorporates kinematic functions such as singularity avoidance, joint limits, and collision avoidance.

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Section: Free-flying Manipulationmentioning

confidence: 99%

Redundancy control of a free-flying telerobot

Spofford¹,

Akin

1990

Journal of Guidance, Control, and Dynamics

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EVA, robotic, and cooperative assembly of large space structures

Akin¹,

Bowden²

Proceedings, IEEE Aerospace Conference

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Abstr-act -This paper briefly summarizes two decades of Space Systems Laboratory experimental research on large space structure assembly. Based on high fidelity neutral buoyancy simulation with direct correlation to space flight data, this research encompasses extravehicular activity (EVA), teleoperation and robotics, and cooperative EVA/robotic assembly activities. Results presented from the extensive data base indicate that humans are significantly more productive in EVA assembly than had been previously thought; that telerobotics have wide applicability in structural assembly tasks, and are nearing humans in performance for a selected subset of tasks; and that direct cooperation between EVA humans and robots in the assembly work site provides maximum performance and robustness to the large space structure scenario.

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Redundant Actuator Coordination for a Free-Flying Telerobot

Spofford¹

1991

1991 American Control Conference

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Results of the M.I.T. Beam Assembly Teleoperator and Integrated Control Station

Cited by 4 publications

References 0 publications

Redundancy control of a free-flying telerobot

Redundancy control of a free-flying telerobot

EVA, robotic, and cooperative assembly of large space structures

Redundant Actuator Coordination for a Free-Flying Telerobot

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