Microgravity flight testing of a laboratory robotA review is given of the conditions and preparations for studying the performance of a robotic laboratory manipulator under microgravity conditions and by means of dynamic simulations. The robotic arm is fitted with accelerometers, incorporated into a materials-transfer workcell, and flown on a microgravity simulator. A software package based on the Lagrangian form of the equations of motion is used for dynamic analysis and control-systems development of the arm.
Document ID
19930031586
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Hinman, Elaine M. (NASA Marshall Space Flight Center Huntsville, AL, United States)
Date Acquired
August 15, 2013
Publication Date
January 1, 1991
Publication Information
Publication: In: Guidance and control 1991; Proceedings of the Annual Rocky Mountain Guidance and Control Conference, Keystone, CO, Feb. 2-6, 1991 (A93-15576 03-12)