Robots operating in the microgravity environment of an orbiting laboratory should be capable of manipulating payloads such that the motion of the robot does not disturb adjacent experiments. The current results of a NASA Lewis Research Center technology program to develop smooth, reaction-compensated manipulation based on both mechanism technology and trajectory planning strategies are present. Experimental validation of methods to reduce robot base reactions through the use of redundant degrees of freedom is discussed. Merits of smooth operation roller-driven robot joints for microgravity manipulators are also reviewed.
Reaction-compensation technology for microgravity laboratory robots
i-SAIRAS ''90: International Symposium on Artificial Intelligence, Robotics and Automation in Space ; 1990 ; Kobe, Japan
1990-01-01
Conference paper
No indication
English
Base Reaction Control for Space-Based Robots Operating in Microgravity Environment
Online Contents | 1994
|Microgravity Science Laboratory (MSL-1)
NTRS | 1998
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