Teleoperation and Robotics in Space

Front Cover
AIAA, 1994 - Manipulators (Mechanism) - 491 pages
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Contents

Space Telerobots
6
Telerobot Systems
18
Background
24
Implications of Telerobotics and Automation for the Space Station
35
Human Enhancement and Limitation
43
Epistemological Pitfalls
49
Lessons from Aviation and Other HumanMachine Systems
56
Vision Force and Motion Feedback in Teleoperation
65
Attitude Tumbling Caused by Flexibility in SatelliteMounted Robots
255
Differential Kinematics and Momentum Conservation of Space Robots
261
Bidirectional Motion Planning
270
Utilization of Nonholonomic Redundancy
278
Conclusion
287
Nontruncated Dynamic Models of a Flexible Beam
294
Truncated Dynamic Models of a Flexible Beam
302
Summary
311

Telepresence and Virtual Presence
79
Ground Experiments Toward Space Teleoperation
87
Experimental Results
93
Discussion
102
Toward Advanced Teleoperation in Space
107
Advanced Teleoperator Control Experiments
126
Perspectives of Anthropomorhic Telemanipulation
132
Supervised Autonomy for Space Telerobotics
139
Sequence Control
149
Conclusions
156
DomainIndependent Planning
163
Conclusion
173
ArmSensorEnvironment Model
185
Explicit Force Control
194
Conclusions
208
ThreeDimensional RigidBody Positioning Using CameraSpace
215
Experimental Results
222
Lighting
224
PrecisionEnhancing Measure
231
Tutorial Overview of the Dynamics and Control
237
Manipulation with a Robot Mounted on a Satellite with the Attitude
247
Lyapunov Stability Theory Lyapunovs Direct Method
318
Nonlinear and Time Varying Dynamical Systems
327
Cooperative Control of Multibody Manipulators
334
Concluding Remarks
348
Space Remote Manipulator System Description
357
Dynamics
375
Control System
385
Tests
396
Concluding Remarks
407
Space Station Mobile Servicing System
418
Flight Telerobotic Servicer
437
Future Evolution of Space Station Robotics
439
Evolution of the Space Station Freedom Assembly Plan
445
Primary Robotic Devices for Space Station Freedom Assembly
452
Robotic Interfaces for Assembly Operations
458
Mission Build 2
465
Summary
472
SixDegreeofFreedom Test System
480
Summary
489
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