A preliminary design of a manipulator system, applicable to a Free-Flying Teleoperator Spacecraft operating in conjunction with the Shuttle or Tug, is presented. The manipulator arm incorporates two 4-ft segments to the wrist with actuators located at the shoulder, elbow, and wrist. The wrist provides three degrees-of-freedom through pitch, yaw and continuous roll joints. An interchangeable end effector provides multiple task performance and satellite worksite versatility. A tip force of 10 lbs and a torque of 15 ft-lbs is provided. Man-in-the-loop simulations, using both unilateral and bilateral control techniques, were conducted. Based upon the simulation, a new, but relatively simple, control technique was proposed for the manipulator system.


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    Title :

    A manipulator system designed for Free-Flying Teleoperator Spacecraft


    Contributors:

    Conference:

    Human Factors Society, Annual Meeting ; 1974 ; Huntsville, AL


    Publication date :

    1974-01-01


    Type of media :

    Miscellaneous


    Type of material :

    No indication


    Language :

    English




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