Anthropomorphic dual-arm space telemanipulation systemDexterous dual-arm manipulations are feasible with the system described and illustrated in the paper. The structure is based on an extensible host arm that carries the dual-arm robot which comprises two 7-DOF arms each of which includes a hand with a thumb and three fingers with 4 DOF each. Joint compliance can be stiffened to any level, and the operator uses arm harnesses and gloves to utilize the robotics in an anthropomorphic fashion. The configuration eliminates coordinate-transformation computations, and the system is found to achieve a control-frequency rate of 1000 Hz for its direct man/machine interfaces based on fiber-optic cables. The electronics control for the system utilizes a sensory system consisting of force, position, and compliance sensors. The robotics system is expected to be a user-friendly device that permits assembly, repair, tethering, and other complex mechanical operations.
Document ID
19920041041
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Jau, Bruno M. (JPL Pasadena, CA, United States)
Date Acquired
August 15, 2013
Publication Date
January 1, 1990
Subject Category
Man/System Technology And Life Support
Meeting Information
Meeting: i-SAIRAS ''90: International Symposium on Artificial Intelligence, Robotics and Automation in Space