Real-time control of the MIT vehicle emulation system

William K. Durfee; Husni R. Idris; Steven Dubowsky

doi:10.23919/acc.1991.4791758

Real-time control of the MIT vehicle emulation system

William K. Durfee, Husni R. Idris, Steven Dubowsky

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

11 Scopus citations

Abstract

The MIT vehicle emulation system (VES) is an experimental facility designed to facilitate the study of controlling robots fixed to nonstationary bases. This includes assembly and repair manipulators attached to space vehicles, or to the space shuttle arm, as well as manipulators fixed to the bed of moving ground vehicles. Controlling manipulators under these conditions for endpoint force and positioning tasks requires both the development of new theory, and the development of a testbed for verifying theoretical results through experimentation. A description is presented of the technical details of the real-time controller for the second generation VES system.

Original language	English (US)
Title of host publication	Proceedings of the American Control Conference
Publisher	Publ by American Automatic Control Council
Pages	2057-2058
Number of pages	2
ISBN (Print)	0879425652, 9780879425654
DOIs	https://doi.org/10.23919/acc.1991.4791758
State	Published - 1991
Event	Proceedings of the 1991 American Control Conference - Boston, MA, USA Duration: Jun 26 1991 → Jun 28 1991

Publication series

Name	Proceedings of the American Control Conference
Volume	2
ISSN (Print)	0743-1619

Other

Other	Proceedings of the 1991 American Control Conference
City	Boston, MA, USA
Period	6/26/91 → 6/28/91

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Durfee, WK, Idris, HR & Dubowsky, S 1991, Real-time control of the MIT vehicle emulation system. in Proceedings of the American Control Conference. Proceedings of the American Control Conference, vol. 2, Publ by American Automatic Control Council, pp. 2057-2058, Proceedings of the 1991 American Control Conference, Boston, MA, USA, 6/26/91. https://doi.org/10.23919/acc.1991.4791758

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AB - The MIT vehicle emulation system (VES) is an experimental facility designed to facilitate the study of controlling robots fixed to nonstationary bases. This includes assembly and repair manipulators attached to space vehicles, or to the space shuttle arm, as well as manipulators fixed to the bed of moving ground vehicles. Controlling manipulators under these conditions for endpoint force and positioning tasks requires both the development of new theory, and the development of a testbed for verifying theoretical results through experimentation. A description is presented of the technical details of the real-time controller for the second generation VES system.

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ER -

Real-time control of the MIT vehicle emulation system

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