Flight Telerobotic Servicer prototype simulator
Abstract
A prototype simulator for the Flight Telerobotic Servicer (FTS) system is described for use in the design development of the FTS, emphasizing the hand controller and user interface. The simulator utilizes a graphics workstation based on rapid prototyping tools for systems analyses of the use of the user interface and the hand controller. Kinematic modeling, manipulator-control algorithms, and communications programs are contained in the software for the simulator. The hardwired FTS panels and operator interface for use on the STS Orbiter are represented graphically, and the simulated controls function as the final FTS system configuration does. The robotic arm moves based on the user hand-controller interface, and the joint angles and other data are given on the prototype of the user interface. This graphics simulation tool provides the means for familiarizing crewmembers with the FTS system operation, displays, and controls.
- Publication:
-
Guidance and Control 1991
- Pub Date:
- 1991
- Bibcode:
- 1991guco.conf..165S
- Keywords:
-
- Flight Simulators;
- Orbital Assembly;
- Prototypes;
- Robot Control;
- Telerobotics;
- Manipulators;
- Nasa Space Programs;
- Robot Arms;
- Spacecraft Design, Testing and Performance