Control research at Ford Aerospace for space telerobotic applications
Abstract
Current R&D activities are discussed related to the analysis of space manipulators and their operational control in laboratory environments which emphasize the development of impedance controls. General robotics activities are reviewed to develop the context for the teleoperator control which is based on impedance control. This type of control permits the simultaneous control of manipulator position and force interaction, and a demonstration of the integrated approach is given for the case of a kinematically redundant manipulator. A peg-in-hole insertion demonstration is reported to prove the capability of the impedance-based system and shows that no undesirable force overshoots or bounce phenomena occur. Telerobotic applications and methodologies are expected to demonstrate force-guided assembly tasks under supervisory control and with large time delays.
- Publication:
-
i-SAIRAS 1990; Proceedings of the International Symposium on Artificial Intelligence
- Pub Date:
- 1990
- Bibcode:
- 1990aira.proc...97T
- Keywords:
-
- Orbital Servicing;
- Research And Development;
- Space Tools;
- Telerobotics;
- Man Machine Systems;
- Manipulators;
- Orbital Assembly;
- Teleoperators;
- Engineering (General)