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Proceedings Paper

Recent developments at the Goddard engineering testbed
Author(s): Stephen Leake; Edward B. Cheung
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Paper Abstract

The Goddard robotics effort is alive and well, even after the sad demise of the flight telerobotic servicer (FTS). We have released a technical report on the design and implementation of a flexible robot control system architecture, and are in the process of prototyping it. The architecture is based on our experience in implementing NASA Standard Reference Model Architecture (NASREM) and the prototype FTS control system in Ada. We have successfully demonstrated the integration of the capaciflector proximity sensor for docking and berthing. We can even still do state of the art force reflecting teleoperation, thanks to adding a sixth motor to the Kraft hand controllers. We look forward to transferring some of this technology to other NASA centers.

Paper Details

Date Published: 1 November 1992
PDF: 10 pages
Proc. SPIE 1829, Cooperative Intelligent Robotics in Space III, (1 November 1992); doi: 10.1117/12.131696
Show Author Affiliations
Stephen Leake, NASA Goddard Space Flight Ctr. (United States)
Edward B. Cheung, Jackson and Tull (United States)

Published in SPIE Proceedings Vol. 1829:
Cooperative Intelligent Robotics in Space III
Jon D. Erickson, Editor(s)

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