Laboratory test bed for space robotics: the VES II

Steven Dubowsky, William Durfee, Thomas Corrigan, Andrew Kuklinski, Uwe Muller

Research output: Chapter in Book/Report/Conference proceedingConference contribution

28 Scopus citations

Abstract

The dynamic interaction between a space robotic manipulator and its base in micro-gravity can make it difficult to control and lead to system performance degredation. Control and planning algorithms proposed in the past to compensate for this dynamic interaction have lacked sufficient experimental evaluation. A laboratory test bed is described which was developed and built to emulate the dynamic behavior of space robotic systems and investigate proposed planning and control algorithms. Two methods for removing the effects of gravity in the laboratory are presented. Experimental results demonstrate the effectiveness of this test bed in studying the dynamic coupling between a space manipulator and its spacecraft.

Original languageEnglish (US)
Title of host publicationIEEE/RSJ/GI International Conference on Intelligent Robots and Systems
PublisherIEEE
Pages1562-1569
Number of pages8
Volume3
StatePublished - Dec 1 1994
EventProceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Munich, Ger
Duration: Sep 12 1994Sep 16 1994

Other

OtherProceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3)
CityMunich, Ger
Period9/12/949/16/94

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