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Control of a free-flying robot manipulator systemThe development of and test control strategies for self-contained, autonomous free flying space robots are discussed. Such a robot would perform operations in space similar to those currently handled by astronauts during extravehicular activity (EVA). Use of robots should reduce the expense and danger attending EVA both by providing assistance to astronauts and in many cases by eliminating altogether the need for human EVA, thus greatly enhancing the scope and flexibility of space assembly and repair activities. The focus of the work is to develop and carry out a program of research with a series of physical Satellite Robot Simulator Vehicles (SRSV's), two-dimensionally freely mobile laboratory models of autonomous free-flying space robots such as might perform extravehicular functions associated with operation of a space station or repair of orbiting satellites. It is planned, in a later phase, to extend the research to three dimensions by carrying out experiments in the Space Shuttle cargo bay.
Document ID
19870001726
Acquisition Source
Legacy CDMS
Document Type
Contractor Report (CR)
Authors
Alexander, H. (Stanford Univ. CA, United States)
Date Acquired
September 5, 2013
Publication Date
February 1, 1986
Subject Category
Mechanical Engineering
Report/Patent Number
NAS 1.26:179877
SAR-2
NASA-CR-179877
Accession Number
87N11159
Funding Number(s)
CONTRACT_GRANT: NCC2-333
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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