The design and implementation of a laboratory test bed for space robotics: The VES mod II

Steven Dubowsky; William Durfee; Andrew Kuklinski; Uwe Muller; Igor Paul; Jack Pennington

doi:10.1115/DETC1994-0311

The design and implementation of a laboratory test bed for space robotics: The VES mod II

Steven Dubowsky, William Durfee, Andrew Kuklinski, Uwe Muller, Igor Paul, Jack Pennington

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

2 Scopus citations

Abstract

The dynamic interaction between a space robotic manipulator and its base can make its control difficult. Control and planning algorithms have been proposed to compensate for this dynamic interaction. A laboratory test bed is described which was developed and built to emulate the dynamic behavior of space robotic systems and investigate proposed algorithms. Experimental results are presented which demonstrate the effectiveness of this test bed in studying the dynamic coupling between a space manipulator and its spacecraft.

Original language	English (US)
Title of host publication	23rd Biennial Mechanisms Conference
Subtitle of host publication	Robotics - Kinematics, Dynamics and Controls
Publisher	American Society of Mechanical Engineers (ASME)
Pages	99-108
Number of pages	10
ISBN (Electronic)	9780791812860
DOIs	https://doi.org/10.1115/DETC1994-0311
State	Published - 1994
Externally published	Yes
Event	ASME 1994 Design Technical Conferences, DETC 1994, collocated with the ASME 1994 International Computers in Engineering Conference and Exhibition and the ASME 1994 8th Annual Database Symposium - Minneapolis, United States Duration: Sep 11 1994 → Sep 14 1994

Publication series

Name	Proceedings of the ASME Design Engineering Technical Conference
Volume	Part F167892-4

Conference

Conference	ASME 1994 Design Technical Conferences, DETC 1994, collocated with the ASME 1994 International Computers in Engineering Conference and Exhibition and the ASME 1994 8th Annual Database Symposium
Country/Territory	United States
City	Minneapolis
Period	9/11/94 → 9/14/94

Bibliographical note

Funding Information:
The support of this work by NASA (Langley Research Center, Automation Branch) under Grant NAG-1-801 is acknowledged. Also acknowledged are the contributions to this project of the following MIT faculty members and students; J. Baker, T. Corrigan, P. Foote, Y. Gong, D. Goodrum, H. Idris, H. West, and P. Zackin.

Publisher Copyright:
© 1994 American Society of Mechanical Engineers (ASME). All rights reserved.

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Dubowsky, S., Durfee, W., Kuklinski, A., Muller, U., Paul, I., & Pennington, J. (1994). The design and implementation of a laboratory test bed for space robotics: The VES mod II. In 23rd Biennial Mechanisms Conference: Robotics - Kinematics, Dynamics and Controls (pp. 99-108). (Proceedings of the ASME Design Engineering Technical Conference; Vol. Part F167892-4). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DETC1994-0311

The design and implementation of a laboratory test bed for space robotics: The VES mod II. / Dubowsky, Steven; Durfee, William; Kuklinski, Andrew et al.
23rd Biennial Mechanisms Conference: Robotics - Kinematics, Dynamics and Controls. American Society of Mechanical Engineers (ASME), 1994. p. 99-108 (Proceedings of the ASME Design Engineering Technical Conference; Vol. Part F167892-4).

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

Dubowsky, S, Durfee, W, Kuklinski, A, Muller, U, Paul, I & Pennington, J 1994, The design and implementation of a laboratory test bed for space robotics: The VES mod II. in 23rd Biennial Mechanisms Conference: Robotics - Kinematics, Dynamics and Controls. Proceedings of the ASME Design Engineering Technical Conference, vol. Part F167892-4, American Society of Mechanical Engineers (ASME), pp. 99-108, ASME 1994 Design Technical Conferences, DETC 1994, collocated with the ASME 1994 International Computers in Engineering Conference and Exhibition and the ASME 1994 8th Annual Database Symposium, Minneapolis, United States, 9/11/94. https://doi.org/10.1115/DETC1994-0311

Dubowsky S, Durfee W, Kuklinski A, Muller U, Paul I, Pennington J. The design and implementation of a laboratory test bed for space robotics: The VES mod II. In 23rd Biennial Mechanisms Conference: Robotics - Kinematics, Dynamics and Controls. American Society of Mechanical Engineers (ASME). 1994. p. 99-108. (Proceedings of the ASME Design Engineering Technical Conference). doi: 10.1115/DETC1994-0311

Dubowsky, Steven ; Durfee, William ; Kuklinski, Andrew et al. / The design and implementation of a laboratory test bed for space robotics : The VES mod II. 23rd Biennial Mechanisms Conference: Robotics - Kinematics, Dynamics and Controls. American Society of Mechanical Engineers (ASME), 1994. pp. 99-108 (Proceedings of the ASME Design Engineering Technical Conference).

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The design and implementation of a laboratory test bed for space robotics: The VES mod II

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Bibliographical note

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