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Test and validation for robot arm control dynamics simulationThe Flight Telerobotic Servicer (FTS) program will require an ability to develop, in a cost effective manner, many simulation models for design, analysis, performance evaluation, and crew training. Computational speed and the degree of modeling fidelity associated with each simulation must be commensurate with problem objectives. To demonstrate evolving state-of-the-art general purpose multibody modeling capabilities, to validate these by laboratory testing, and to expose their modeling shortcomings, two focus problems at the opposite ends of the simulation spectrum are defined: (1) Coarse Acquisition Control Dynamics. Create a real time man-in-the-control-loop simulator. Provide animated graphical display of robot arm dynamics and tactile feedback sufficient for cueing the operator. Interface simulator software with human operated tactile feedback controller; i.e., the Kraft mini-master. (2) Fine, Precision Mode Control Dynamics. Create a high speed, high fidelity simulation model for the design, analysis, and performance evaluation of autonomous 7 degree-of-freedom (DOF) trajectory control algorithms. This model must contain detail dynamic models for all significant dynamics elements within the robot arm, such as joint drive mechanisms.
Document ID
19900020510
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Yae, K. Harold (Iowa Univ. Iowa City., United States)
Kim, Sung-Soo (Iowa Univ. Iowa City., United States)
Haug, Edward J. (Iowa Univ. Iowa City., United States)
Seering, Warren (Massachusetts Inst. of Tech. Cambridge., United States)
Sundaram, Kamala (Massachusetts Inst. of Tech. Cambridge., United States)
Thompson, Bruce (Massachusetts Inst. of Tech. Cambridge., United States)
Turner, James (Cambridge Research Associates MA., United States)
Chun, Hon (Cambridge Research Associates MA., United States)
Frisch, Harold P. (NASA Goddard Space Flight Center Greenbelt, MD., United States)
Schnurr, Richard (NASA Goddard Space Flight Center Greenbelt, MD, United States)
Date Acquired
September 6, 2013
Publication Date
January 31, 1989
Publication Information
Publication: JPL, California Inst. of Tech., Proceedings of the NASA Conference on Space Telerobotics, Volume 3
Subject Category
Man/System Technology And Life Support
Accession Number
90N29826
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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