The system consists of 4 major components: (1) dual FTS arms to perform dextrous tasks; (2) the main body to house power and electronics; (3) an Attachment Stabilization and Positioning Subsystem (ASPS) to provide coarse positioning and stabilization of the arms, and (4) the Worksite Attachment Mechanism (WAM) which anchors the system to its worksite, such as a Space Station truss node or Shuttle bay platform. This phase of the Intelligent Robotic Systems Study (IRSS) examines some basic dynamics and control issues for a space manipulator attached to its worksite through a compliant base. The analysis is limited to the DTF-2 scenario. The dynamics and controls simulation model are described. Unspecified Center NAS8-36431... One example of this scenario is depicted, which is a simplified, planar representation of the Flight Telerobotic Servicer (FTS) Development Test Flight 2 (DTF-2) experiment. Analysis and simulation results are presented. The goal is to understand the basic interaction dynamics between the arm, the positioner and/or stabilizer, and the worksite.
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Intelligent Robotic Systems Study (Irss), Phase 3, Paperback - National Aeronautics And Space Adm Nasa
Specifications of Intelligent Robotic Systems Study (Irss), Phase 3, Paperback - National Aeronautics And Space Adm Nasa | |
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