Reaction-compensation technology for microgravity laboratory robotsRobots operating in the microgravity environment of an orbiting laboratory should be capable of manipulating payloads such that the motion of the robot does not disturb adjacent experiments. The current results of a NASA Lewis Research Center technology program to develop smooth, reaction-compensated manipulation based on both mechanism technology and trajectory planning strategies are present. Experimental validation of methods to reduce robot base reactions through the use of redundant degrees of freedom is discussed. Merits of smooth operation roller-driven robot joints for microgravity manipulators are also reviewed.
Document ID
19920041095
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Rohn, Douglas A. (NASA Lewis Research Center Cleveland, OH, United States)
Lawrence, Charles (NASA Lewis Research Center Cleveland, OH, United States)
Miller, Jeffrey H. (Sverdrup Technology, Inc. Brookpark, OH, United States)
Date Acquired
August 15, 2013
Publication Date
January 1, 1990
Subject Category
Mechanical Engineering
Meeting Information
Meeting: i-SAIRAS ''90: International Symposium on Artificial Intelligence, Robotics and Automation in Space