By Topic

Force accommodation control of the Space Shuttle remote manipulator system: a unique problem

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Nguyen, T. ; Lockheed Eng. & Sci. Co., Houston, TX, USA ; Wang, J. ; Hwang, J. ; Alder, K.

The Space Shuttle remote manipulator system (SRMS) is a man-in-the-loop, rate-servoed manipulator that has flown on numerous shuttle missions. A force feedback control law is being investigated for the SRMS to enhance its capabilities for current shuttle robotic activities and future space station tasks. Since it is not feasible to experiment with the SRMS in a laboratory environment, control laws are developed and tested on an industrial manipulator while the different SRMS dynamic characteristics relative to the experimental arm are identified using simulation models. These unique characteristics complicate the design of a force control law for the SRMS. The approach used and preliminary results are discussed

Published in:

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Date of Conference:

9-11 Apr 1991