Real-time control of the MIT vehicle emulation systemThe MIT vehicle emulation system (VES) is an experimental facility designed to facilitate the study of controlling robots fixed to nonstationary bases. This includes assembly and repair manipulators attached to space vehicles, or to the space shuttle arm, as well as manipulators fixed to the bed of moving ground vehicles. Controlling manipulators under these conditions for endpoint force and positioning tasks requires both the development of new theory, and the development of a testbed for verifying theoretical results through experimentation. A description is presented of the technical details of the real-time controller for the second generation VES system.
Document ID
19920046662
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Durfee, William K. (NASA Langley Research Center Hampton, VA, United States)
Idris, Husni R. (NASA Langley Research Center Hampton, VA, United States)
Dubowsky, Steven (MIT Cambridge, MA, United States)