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Proceedings Paper

System Architecture For Telerobotic Servicing And Assembly Tasks
Author(s): F.Wallace Harrison Jr.; Jack E. Pennington
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Paper Abstract

An identified goal for initial Space Station's operations is to have a telerobotic system that can perform assembly and maintenance tasks on the station. Servicing and assembly which are candidates for automation include tasks which are potentially hazardous to humans and tasks which are repetitious. This paper will describe the architecture of an integrated telerobotics laboratory which is being used for research on the mechanisms, controls, sensing, and operator interface required to accomplish space telerobotic tasks. The Intelligent Systems Research Laboratory (ISRL) uses a hierarchical structure of functionally distributed computers communicating over both parallel and high-speed serial data paths in conjunction with a modular system simulation program to conduct studies of advanced telerobotic systems. Multiple processes perform motion planning, operator communications, forward and inverse kinematics, control/sensor fusion, and I/O processing while communicating through common memory on a VAX host computer. Additional hardware elements of the simulation include a symbolic processor, a high-speed computer graphics system, manipulators, and a vision processor. Two manipulators can be operated under teleoperator control or can be supervised by the operator while performing a sequence of elementary operations using force, torque, and vision sensing. This paper describes the architecture and capability of the laboratory and discusses recent telerobotic studies related to satellite servicing and space assembly.

Paper Details

Date Published: 20 February 1987
PDF: 7 pages
Proc. SPIE 0729, Space Station Automation II, (20 February 1987); doi: 10.1117/12.964871
Show Author Affiliations
F.Wallace Harrison Jr., NASA Langley Research Center (United States)
Jack E. Pennington, NASA Langley Research Center (United States)

Published in SPIE Proceedings Vol. 0729:
Space Station Automation II
Wun C. Chiou Sr., Editor(s)

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