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Proceedings Paper

Resolving sensor processing issues for intelligent space robotics
Author(s): Carolyn A. Vallado
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Paper Abstract

Processing requirements for the cooperative robot systems necessary for space application are well beyond those of ground-based systems. The volume, weight, and power constraints for space-based robots restrict the designer's choices. This paper discusses the use of custom electronics to resolve the processing issues while maintaining the timing requirements for such systems. There are many robotic algorithms suitable for ASIC implementation -- inverse kinematic solution, state estimation, Riccati's equation, Kalman filtering, force/torque sensing, and force/torque prediction/reflection. We present a solution to a force/torque sensing problem.

Paper Details

Date Published: 1 March 1992
PDF: 9 pages
Proc. SPIE 1612, Cooperative Intelligent Robotics in Space II, (1 March 1992); doi: 10.1117/12.56745
Show Author Affiliations
Carolyn A. Vallado, Martin Marietta Astronautics Group (United States)

Published in SPIE Proceedings Vol. 1612:
Cooperative Intelligent Robotics in Space II
William E. Stoney, Editor(s)

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