System Architecture For Telerobotic Servicing And Assembly Tasks

F.Wallace Harrison Jr.; Jack E. Pennington

doi:10.1117/12.964871

20 February 1987 System Architecture For Telerobotic Servicing And Assembly Tasks

F.Wallace Harrison Jr., Jack E. Pennington

Proceedings Volume 0729, Space Station Automation II; (1987) https://doi.org/10.1117/12.964871
Event: Cambridge Symposium_Intelligent Robotics Systems, 1986, Cambridge, MA, United States

Abstract

An identified goal for initial Space Station's operations is to have a telerobotic system that can perform assembly and maintenance tasks on the station. Servicing and assembly which are candidates for automation include tasks which are potentially hazardous to humans and tasks which are repetitious. This paper will describe the architecture of an integrated telerobotics laboratory which is being used for research on the mechanisms, controls, sensing, and operator interface required to accomplish space telerobotic tasks. The Intelligent Systems Research Laboratory (ISRL) uses a hierarchical structure of functionally distributed computers communicating over both parallel and high-speed serial data paths in conjunction with a modular system simulation program to conduct studies of advanced telerobotic systems. Multiple processes perform motion planning, operator communications, forward and inverse kinematics, control/sensor fusion, and I/O processing while communicating through common memory on a VAX host computer. Additional hardware elements of the simulation include a symbolic processor, a high-speed computer graphics system, manipulators, and a vision processor. Two manipulators can be operated under teleoperator control or can be supervised by the operator while performing a sequence of elementary operations using force, torque, and vision sensing. This paper describes the architecture and capability of the laboratory and discusses recent telerobotic studies related to satellite servicing and space assembly.

Citation Download Citation

F.Wallace Harrison Jr. and Jack E. Pennington "System Architecture For Telerobotic Servicing And Assembly Tasks", Proc. SPIE 0729, Space Station Automation II, (20 February 1987); https://doi.org/10.1117/12.964871

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