246
246
Jul 23, 2010
07/10
by
Newman, P. A.; Lamich, D. J.; Gelman, M.; Schoeberl, M. R.; Baker, W.; Krueger, A. J
texts
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Southern Hemisphere meteorological data for the months of August and September 1987 in the lower stratosphere are shown. National Meteorological Center (NMC) data, Total Ozone Mapping Spectrometer (TOMS) data, and Goddard Laboratory for Atmospheres (GLA) data are used to display polar stereographic projections of 200 to 100 mb vertical mean temperatures, 100 mb zonal mean geopotential height perturbations, total ozone, Ertel's potential vorticity (Epv), and 50 to 30 mb vertical mean...
Topics: ORBITAL ASSEMBLY, ORBITAL SERVICING, ROBOTICS, MODELS, ROBOTS, SPACECRAFT DESIGN
575
575
May 31, 2011
05/11
by
Zimmerman, Curtis; Dukeman, Greg; Hanson, Joh
texts
eye 575
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Determining how to properly manipulate the controls of a re-entering re-usable launch vehicle (RLV) so that it is able to safely return to Earth and land involves the solution of a two-point boundary value problem (TPBVP). This problem, which can be quite difficult, is traditionally solved on the ground prior to flight. If necessary, a nearly unlimited amount of time is available to find the 'best' solution using a variety of trajectory design and optimization tools. The role of entry guidance...
Topics: ORBITAL ASSEMBLY, ROBOTS, ROBOT CONTROL, AUTONOMY, SIMULATION, ARCHITECTURE (COMPUTERS), ALGORITHMS
234
234
Nov 10, 2012
11/12
by
Max Leonov
texts
eye 234
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Technology primer on a predominantly-rigid hybrid sandwich pressurized hull structure for large manned interplanetary spacecraft.
Topics: orbital assembly, preload-restrained, pressure vessel, gas barrier, deep space, interplanetary,...
256
256
Jun 1, 2011
06/11
by
Gayda, Joh
texts
eye 256
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As part of NASA s Advanced Subsonic Technology Program, a study of stabilization heat treatment options for an advanced nickel-base disk alloy, ME 209, was performed. Using a simple, physically based approach, the effect of stabilization heat treatments on tensile and creep properties was analyzed in this paper. Solutions temperature, solution cooling rate, and stabilization temperature/time were found to have a significant impact on tensile and creep properties. These effects were readily...
Topics: SPACE STATION FREEDOM, CONFIGURATION MANAGEMENT, ORBITAL SERVICING, USER REQUIREMENTS, ORBITAL...
399
399
Jun 11, 2011
06/11
by
Burner, A. W.; Snow, W. L.; Goad, W. K
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eye 399
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A photogrammetric closed circuit television system to measure model deformation at the National Transonic Facility (NTF) is described. The photogrammetric approach was chosen because of its inherent rapid data recording of the entire object field. Video cameras are used to acquire data instead of film cameras due to the inaccessibility of cameras which must be housed within the cryogenic, high pressure plenum of this facility. Data reduction procedures and the results of tunnel tests at the NTF...
Topics: ROBOT CONTROL, ORBITAL ASSEMBLY, LARGE SPACE STRUCTURES, CONTROL THEORY, CONTROL SIMULATION,...
A licensing agreement between Marshall Space Flight Center and M&A Screw and Machineworks has brought the quick connect nut to the commerical market. Originally designed as part of a project seeking in-space assembly techniques, the quick connect nut is secured around a bolt merely by pushing it onto the bolt and giving it a single twist. Applications for the nuts include oil drilling platforms, mining industry, and other practices that rely on speedy assembly for success.
Topics: NASA Technical Reports Server (NTRS), TECHNOLOGY UTILIZATION, BOLTS, ORBITAL ASSEMBLY, NUTS...
Early space station accommodation, build-up of space station manipulator capability, on-orbit spacecraft assembly test and launch, large antenna structure deployment, service/refurbish satellite, and servicing of free-flying materials processing platform are discussed.
Topics: NASA Technical Reports Server (NTRS), MANIPULATORS, ORBITAL ASSEMBLY, SPACE STATIONS, SERVICE...
388
388
Jun 12, 2011
06/11
by
Gittemeier, Keith A.; Hawk, Clark W.; Finckenor, Miria M.; Watts, E
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eye 388
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The University of Alabama in Huntsville s Propulsion Research Center has teamed with NASA's Marshall Space Flight Center (MSFC) to research the effects of atomic oxygen (AO) bombardment on coated tether materials. Tethers Unlimited Inc. has provided several candidate tether materials with various coatings for (AO) exposure in MSFC's Atomic Oxygen Beam Facility. Additional samples were exposed to ultraviolet (UV) radiation at MSFC. AO erodes most organic materials, and ultraviolet radiation...
Topics: SPACECRAFT DESIGN, DESIGN ANALYSIS, ORBITAL ASSEMBLY, SPACECRAFT MODULES, MODULARITY, SPACE...
340
340
Jul 25, 2010
07/10
by
NON
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The results of a workshop of 50 representatives from the public and private sector which investigated the potential joint development of the key technologies and mechanisms that will enable the permanent habitation of space are presented. The workshop is an initial step to develop a joint public/private assessment of new technology requirements of future space options, to share knowledge on required technologies that may exist in the private sector, and to investigate potential joint technology...
Topics: CRANES, EXTRAVEHICULAR ACTIVITY, ORBITAL ASSEMBLY, ROBOTICS, SPACE STATIONS, LARGE SPACE...
292
292
May 31, 2011
05/11
by
Blanche, Ji
texts
eye 292
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This paper presents an assessment of two wire harness failures that had occurred in Solid Rocket Booster Altitude Switch Assemblies S/N 200001 and S/N 20002. A list of modifications to EDU #4 and modification of qualification units 2000001 and 2000002 are also presented.
Topics: ROBOTS, TEAMS, INSPECTION, APPLICATIONS PROGRAMS (COMPUTERS), DESIGN OPTIMIZATION, SIMULATION,...
The Flight Telerobotic Servicer (FTS), a multiple arm dexterous manipulation system, will aid in the assembly, maintenance, and servicing of the space station. Fundamental ideas and basic conceptual designs for a shuttle-based telerobot system have been produced. Recent space station studies provide additional concepts that should aid in the accomplishment of mission requirements. Currently, the FTS is in contractual source selection for a Phase B preliminary design. At the same time, design...
Topics: NASA Technical Reports Server (NTRS), ROBOTS, SPACE STATIONS, TELEROBOTICS, ORBITAL ASSEMBLY,...
678
678
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The proceedings of the conference are presented. Some comprehensive general papers are presented on applications of finite elements in engineering, comparisons with other approaches, unique applications, pre and post processing with other auxiliary programs, and new methods of analysis with NASTRAN.
Topics: ALIGNMENT, DEFLECTION, INVENTIONS, KINEMATICS, PRECISION, RELIABILITY, BOLTS, COUPLERS, ORBITAL...
327
327
Jul 26, 2010
07/10
by
Cole, Stanley R.; Henning, Thomas L
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eye 327
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A wind-tunnel test of a 1/10th-scale Atlas-Centaur I large payload fairing launch vehicle model was conducted in the NASA Langley Transonic Dynamics Tunnel. The wind tunnel model was an aeroelastically-scaled version of the flight vehicle and was capable of simulating either of the first two bending vibration modes of the full-scale vehicle by a partial mode technique. The primary purpose of the test was to gather data concerning buffet response which could be used to clear the vehicle for...
Topics: SPACE STATION FREEDOM, SPACE STATIONS, SPACE TRANSPORTATION SYSTEM FLIGHTS, TELEOPERATORS,...
Research being conducted at the Goddard Space Flight Center into the development of guidelines for the design of robotically serviceable spaceflight hardware is described. A mock-up was built based on an existing spaceflight system demonstrating how these guidelines can be applied to actual hardware. The report examines the basic servicing philosophy being studied and how this philosophy is reflected in the formulation of design guidelines for robotic servicing. A description of the mock-up is...
Topics: NASA Technical Reports Server (NTRS), ORBITAL ASSEMBLY, ORBITAL SERVICING, ROBOTICS, MODELS,...
508
508
May 31, 2011
05/11
by
Dismukes, R. K.; Young, Grant E.; Sumwalt, Robert L., II
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eye 508
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Managing several tasks concurrently is an everyday part of cockpit operations. For the most part, crews handle concurrent task demands efficiently, yet crew preoccupation with one task to the detriment of performing other tasks is one of the more common forms of error in the cockpit. Most pilots are familiar with the December 1972 L1011 crash that occurred when the crew became preoccupied with a landing gear light malfunction and failed to notice that someone had inadvertently bumped off the...
Topics: ASTRONAUTS, ROBOTS, ORBITAL ASSEMBLY, COST EFFECTIVENESS, SPACECRAFT MAINTENANCE, EXTRAVEHICULAR...
Latching techniques are changing from early approaches due to the advent of berthing technology. Latch selection for a given interface may be conducted by evaluating candidate capabilities which meet functional interface requirements. A judgment criteria system is presented along with an example of its use in choosing the Rollerscrew Structural Latch (RSL) for the NASA Flat Plate Interface Prototype (FPIP). Details are given on Rollerscrew operation, design, and development difficulties. A test...
Topics: NASA Technical Reports Server (NTRS), LATCHES, ORBITAL ASSEMBLY, SPACECRAFT COMPONENTS, FASTENERS,...
A lock joint for a Space Station has a series of struts joined together in a predetermined configuration by node point fittings. The fittings have removeable inserts. The lock joint has an elongated housing connected at one end to a strut. A split-fingered collet is mounted within the housing to insure reciprocal movement. A handle on the housing is connected to the collet for moving the collet into the insert where the fingers of the collet expand to lock the joint to the fitting.
Topics: NASA Technical Reports Server (NTRS), CONNECTORS, LOCKS (FASTENERS), SPACE STATIONS, TRUSSES,...
A NASA-sponsored Industry Workshop on Large Space Structures was convened at Langley Research Center on 24-26 February 1976. A number of structures specialists from seven major aerospace companies participated. Predictions about the future structures to be fabricated/assembled/erected in space are presented along with a composite appraisal of what the Aerospace Industry views as the critical structural technology developments needed to support NASA space missions in the 1985-2000 time frame.
Topics: NASA Technical Reports Server (NTRS), AEROSPACE ENGINEERING, CONFERENCES, SPACE ERECTABLE...
A suite of telerobotic tasks has been compiled and assessed for the purpose of selecting viable tasks for near and far term laboratory demonstrations. The primary intent of developing the task is to provide some technical guidelines, with supporting data, for focusing laboratory demonstrations toward application domains that address a wide array of potential telerobot tasks and required technologies. This wide application would then result in a rich technology development environment to meet...
Topics: NASA Technical Reports Server (NTRS), DECISIONS, RANKING, ROBOTS, TELEOPERATORS, TELEROBOTICS,...
The ACCESS truss was telerobotically assembled in order to gain experience with robotic assembly of hardware designed for astronaut extravehicular (EVA) assembly. Tight alignment constraints of the ACCESS hardware made telerobotic assembly difficult. A wider alignment envelope and a compliant end effector would have reduced the problem. The manipulator had no linear motion capability, but many of the assembly operations required straight line motion. The manipulator was attached to a motion...
Topics: NASA Technical Reports Server (NTRS), COMPUTER VISION, MANIPULATORS, ORBITAL ASSEMBLY, ROBOTS,...
The servicing functions definitions and activity data sheets are included. Detailed time and manpower estimates, and cost analysis sheets are presented.
Topics: NASA Technical Reports Server (NTRS), ORBIT TRANSFER VEHICLES, SPACE SHUTTLE PAYLOADS, SPACE...
Four areas related to the nonterrestrial use of materials are included: (1) material resources needed for feedstock in an orbital manufacturing facility, (2) required initial components of a nonterrestrial manufacturing facility, (3) growth and productive capability of such a facility, and (4) automation and robotics requirements of the facility.
Topics: NASA Technical Reports Server (NTRS), ORBITAL ASSEMBLY, RESOURCES MANAGEMENT, ROBOTS, SPACE...
The techniques, processes, and equipment required for automatic fabrication and assembly of structural elements in space using the space shuttle as a launch vehicle and construction base were investigated. Additional construction/systems/operational techniques, processes, and equipment which can be developed/demonstrated in the same program to provide further risk reduction benefits to future large space systems were included. Results in the areas of structure/materials, fabrication systems...
Topics: NASA Technical Reports Server (NTRS), LARGE SPACE STRUCTURES, ORBITAL ASSEMBLY, SPACE SHUTTLES,...
This viewgraph presentation provides information on the challenges facing mechanically joining objects in space, as well as past, present, and future techniques for brazing. The sections of the presentation include: 1) Why do we need to join components in space; 2) Why brazing? 3) History of brazing in space; 4) Electron beam vacuum brazing; 5) Current effort at GSFC; 6) Future work.
Topics: NASA Technical Reports Server (NTRS), BRAZING, ORBITAL ASSEMBLY, LARGE SPACE STRUCTURES, METAL...
For abstract, see N78-25111.
Topics: NASA Technical Reports Server (NTRS), LARGE SPACE STRUCTURES, ORBITAL ASSEMBLY, SPACE SHUTTLES,...
The objective is to identify delivered orbital subassemblies derived from a phase A conceptual space vehicle design while minimizing on-orbit assembly complexity. The topics covered are presented in viewgraph form and include the following: an orbital assembly scenario; subassemblies; subassembly identification and simulation model; estimating subassembly interfaces by engineering functional allocation using MBR; representative data base of interface connections; vehicle decomposition model;...
Topics: NASA Technical Reports Server (NTRS), EXPERT SYSTEMS, ORBITAL ASSEMBLY, SPACECRAFT STRUCTURES,...
196
196
Jun 1, 2011
06/11
by
Barnes, Robert H
texts
eye 196
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The tests reported herein were made for the purpose of determining the high-speed load distribution on the wing of a 3/16 scale model of the Douglas XSB2D-1 airplane. Comparisons are made between the root bending moment and section torsional moment coefficients as obtained experimentally and derived analytically. The results show good correlation for the bending moment coefficients but considerable disagreement for the torsional moment coefficients, the measured moments being greater than the...
Topics: SPACE STATION FREEDOM, SPACECRAFT DESIGN, SPACE STATION STRUCTURES, SPACE STATION MODULES,...
205
205
Jul 23, 2010
07/10
by
Das, T. P
texts
eye 205
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The usefulness of the Massively Parallel Processor (MPP) for investigation of electronic structures and hyperfine properties of atomic and condensed matter systems was explored. The major effort was directed towards the preparation of algorithms for parallelization of the computational procedure being used on serial computers for electronic structure calculations in condensed matter systems. Detailed descriptions of investigations and results are reported, including MPP adaptation of...
Topics: COMPOSITE STRUCTURES, REQUIREMENTS, SYSTEMS ENGINEERING, TRADEOFFS, DEPLOYMENT, ORBITAL ASSEMBLY,...
The lower right aluminum beam cap roll forming mill was delivered and installed in the beam builder. The beam was brought to full operational status and beams of one to six bay lengths were produced to demonstrate full system capability. Although the cap flange waviness problem persists, work is progressing within cost and schedule.
Topics: NASA Technical Reports Server (NTRS), BEAMS (SUPPORTS), FABRICATION, ORBITAL ASSEMBLY, SPACE...
Future on-orbit structures will be designed and built in several stages, each with specific control requirements. Therefore there must be a methodology which can predict the dynamic characteristics of the assembled structure, based on the dynamic characteristics of the subassemblies and their interfaces. The methodology developed by CSC to address this issue is Hybrid Component Mode Synthesis (HCMS). HCMS distinguishes itself from standard component mode synthesis algorithms in the following...
Topics: NASA Technical Reports Server (NTRS), CONSTRUCTION, CONTROL STABILITY, DYNAMIC CHARACTERISTICS,...
The Explorer Platform is a Modular Mission Spacecraft: it has several subunits that are designed to be replaced on orbit. The Goddard Space Flight Center Robotics Lab undertook an experiment to evaluate various robotic approaches to replacing one of the units; a large (approximately 1 meter by 1 meter by 0.5 meter) power box. The hardware consists of a Robotics Research Corporation K-1607 (RRC) manipulator mounted on a large gantry robot, a Kraft handcontroller for teleoperation of RRC, a...
Topics: NASA Technical Reports Server (NTRS), GANTRY CRANES, MANIPULATORS, MULTIMISSION MODULAR SPACECRAFT,...
193
193
Jul 25, 2010
07/10
by
Rebstock, Rainer; Lee, Edwin E., Jr
texts
eye 193
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An initial wind tunnel test was made to validate a new wall adaptation method for 3-D models in test sections with two adaptive walls. First part of the adaptation strategy is an on-line assessment of wall interference at the model position. The wall induced blockage was very small at all test conditions. Lift interference occurred at higher angles of attack with the walls set aerodynamically straight. The adaptation of the top and bottom tunnel walls is aimed at achieving a correctable flow...
Topics: COMPUTERIZED SIMULATION, TELEOPERATORS, MODULES, ORBITAL ASSEMBLY, PHOTOVOLTAIC CELLS, SPACE...
Techniques for simulating an assembly process of lattice structures with curved battens were developed. The shape of the curved battens, the tension in the diagonals, and the compression in the battens were predicted for the assembled model. To be able to perform the assembly simulation, a cable-pulley element was implemented, and geometrically nonlinear finite element analyses were performed. Three types of finite element models were created from assembled lattice structures for studying the...
Topics: NASA Technical Reports Server (NTRS), FINITE ELEMENT METHOD, LARGE SPACE STRUCTURES, SIMULATION,...
Plans for space exploration depend on today's technology programs addressing the novel requirements of space-based enterprise. The requirements for electrical power will be formidable: megawatts in magnitude, reliability for multi-year missions and the flexibility to adapt to needs unanticipated at design time. The reasons for considering the power management and distribution in the various systems from a total mission perspective, rather than simply extrapolating current spacecraft design...
Topics: NASA Technical Reports Server (NTRS), MISSION PLANNING, SPACE EXPLORATION, SPACECRAFT POWER...
572
572
May 22, 2011
05/11
by
Swift, Walter L
texts
eye 572
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A long life, single stage, reverse Brayton cycle cryogenic cooler is being developed for applications in space. The system is designed to provide 5 W of cooling at a temperature of 65 Kelvin with a total cycle input power of less than 200 watts. Key features of the approach include high speed, miniature turbomachines; an all metal, high performance, compact heat exchanger; and a simple, high frequency, three phase motor drive. In Phase 1, a preliminary design of the system was performed....
Topics: LARGE SPACE STRUCTURES, NEUTRAL BUOYANCY SIMULATION, ORBITAL ASSEMBLY, SPACE SHUTTLE PAYLOADS,...
This invention relates to devices which grip cylindrical structures and more particularly to a device which has three arcuate gripping members having frictional surfaces for gripping and compressing a bi-stem. The bi-stem gripping apparatus is constructed having a pair of side gripping members, and an intermediate gripping member disposed between them. Sheets of a gum stock silicone rubber with frictional gripping surfaces are bonded to the inner region of the gripping members and provide...
Topics: NASA Technical Reports Server (NTRS), ASTRONAUTS, BEAMS (SUPPORTS), ORBITAL ASSEMBLY, SPACE...
The definition of a variety of assembly, servicing, and maintenance missions has led to the generation of a number of space telerobot concepts. The remote operation of a space telerobot is seen as a means to increase astronaut productivity. Dexterous manipulator arms are controlled from the Space Shuttle Orbiter cabin or a Space Station module. Concepts for the telerobotic work system have been developed by the Lyndon B. Johnson Space Center through contracts with the Grumman Aerospace...
Topics: NASA Technical Reports Server (NTRS), ORBITAL ASSEMBLY, ROBOTICS, ROBOTS, SPACE MAINTENANCE, SPACE...
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228
Jul 26, 2010
07/10
by
Spreemann, Kenneth P.; Davenport, Edwin E
texts
eye 228
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No Abstract Available
Topics: LARGE DEPLOYABLE REFLECTOR, SYSTEMS ANALYSIS, WEIGHT REDUCTION, ORBITAL ASSEMBLY, ROBOTICS, SPACE...
A prototype cooperative multi-robot control architecture suitable for the eventual construction of large space structures has been developed. In nature, there are numerous examples of complex architectures constructed by relatively simple insects, such as termites and wasps, which cooperatively assemble their nests. The prototype control architecture emulates this biological model. Actions of each of the autonomous robotic construction agents are only indirectly coordinated, thus mimicking the...
Topics: NASA Technical Reports Server (NTRS), ORBITAL ASSEMBLY, ROBOTS, ROBOT CONTROL, AUTONOMY,...
Many orbiter based activities need equipment to hold a payload steady while it is being worked on. This work may be construction, updating, repair, services, check out, or refueling operations in preparation for return to Earth. The Handling and Positioning Aid (HPA) is intended for use as general purpose equipment. The HPA provides a wide choice of work station positions, both immediately above the orbiter cargo bay and beyond. It can act in a primary docking role and, if required, can assist...
Topics: NASA Technical Reports Server (NTRS), HANDLING EQUIPMENT, LARGE SPACE STRUCTURES, ORBITAL ASSEMBLY,...
350
350
Jul 26, 2010
07/10
by
Tsai, Tommy M.; Dejong, Frederick J.; Levy, Ralp
texts
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The tip vortex flowfield plays a significant role in the performance of advanced aircraft propellers. The flowfield in the tip region is complex, three-dimensional and viscous with large secondary velocities. An analysis is presented using an approximate set of equations which contains the physics required by the tip vortex flowfield, but which does not require the resources of the full Navier-Stokes equations. A computer code was developed to predict the tip vortex flowfield of advanced...
Topics: AEROSPACE ENGINEERING, ANTENNA DESIGN, LARGE SPACE STRUCTURES, COMPUTER AIDED DESIGN, ORBITAL...
The man-tended configuration (MTC) of Space Station Freedom (SSF) provides a unique opportunity to move robotic systems from the laboratory into the mainstream space program. Restricted crew access due to the Shuttle's flight rate, as well as constrained on-orbit stay time, reduces the productivity of a facility dependent on astronauts to perform useful work. A natural tendency toward robotics to perform maintenance and routine tasks will be seen in efforts to increase SSF usefulness. This...
Topics: NASA Technical Reports Server (NTRS), ORBITAL ASSEMBLY, ROBOTICS, ROBOTS, SPACE PROGRAMS, SPACE...
The techniques, processes, and equipment required for automatic fabrication and assembly of structural elements in using Shuttle as a launch vehicle, and construction were defined. Additional construction systems operational techniques, processes, and equipment which can be developed and demonstrated in the same program to provide further risk reduction benefits to future large space systems were identified and examined.
Topics: NASA Technical Reports Server (NTRS), LAUNCH VEHICLES, SPACE BASES, SPACE SHUTTLE ORBITERS, SYSTEMS...
The conceptual equipment and techniques for fabricating and assembling a ladder-like structure of triangular cross section trusses suitable for mounting solar cell arrays are described. The detail information is presented in the context of a proposed experiment to be conducted from the shuttle in the 1980-84 time period as an early experiment in the development of techniques for the construction of large space structures that would be required for space solar power stations and other large...
Topics: NASA Technical Reports Server (NTRS), LARGE SPACE STRUCTURES, SATELLITE SOLAR POWER STATIONS, SOLAR...
The detailed results of all part 3 study tasks are presented. Selected analysis was performed on the beam builder conceptual design. The functions of the beam builder and a ground test beam builder were defined. Jig and fixture concepts were developed and the developmental plans of the beam builder were expounded.
Topics: NASA Technical Reports Server (NTRS), LARGE SPACE STRUCTURES, ORBITAL ASSEMBLY, SPACE ERECTABLE...
Progress in the development of a beam builder to be deployed by space shuttle for assembly of large structures in space is reported. The thermal coating for the structural truss was selected and the detail truss design and analysis completed. Data acquired during verification of the design of the basic 'building block' truss are included as well as design layouts for various fabrication facility subsystems.
Topics: NASA Technical Reports Server (NTRS), LARGE SPACE STRUCTURES, ORBITAL ASSEMBLY, SPACE SHUTTLE...
Langley Research Center developed a unique test bed for investigating the practical problems associated with the assembly of large space truss structures using robotic manipulators. The test bed is the result of an interdisciplinary effort that encompasses the full spectrum of assembly problems - from the design of mechanisms to the development of software. The automated structures assembly test bed and its operation are described, the expert system executive and its development are detailed,...
Topics: NASA Technical Reports Server (NTRS), COMPUTER PROGRAMMING, EXPERT SYSTEMS, LARGE SPACE STRUCTURES,...
Technology advancement to effect an orderly development program leading to construction of space platforms was defined, in a program that utilized a viable platform and service module concept with concise OSS/OAST mission and payload models. Consideration was given to concepts for alternate platform servicing of the payloads described in the model. Using the baseline configuration, issues pertinent to platform development as well as orbit emplacement and operation and on orbit construction...
Topics: NASA Technical Reports Server (NTRS), AEROSPACE ENGINEERING, LARGE SPACE STRUCTURES, SPACE...
A path planning method with collision avoidance for a general single chain nonredundant or redundant robot is proposed. Joint range boundary overruns are also avoided. The result is a sequence of joint vectors which are passed to a trajectory planner. A potential field algorithm in joint space computes incremental joint vectors delta-q = delta-q(sub a) + delta-q(sub c) + delta-q(sub r). Adding delta-q to the robot's current joint vector leads to the next step in the path. Delta-q(sub a) is...
Topics: NASA Technical Reports Server (NTRS), ASSEMBLY, COLLISION AVOIDANCE, MANIPULATORS, ROBOT CONTROL,...
In 1985 the National Aeronautics and Space Administration (NASA) instituted a research program in telerobotics to develop and provide the technology for applications of telerobotics to the United States space program. The activities of the program are intended to most effectively utilize limited astronaut time by facilitating tasks such as inspection, assembly, repair, and servicing, as well as providing extended capability for remotely conducting planetary surface operations. As the program...
Topics: NASA Technical Reports Server (NTRS), AEROSPACE TECHNOLOGY TRANSFER, NASA PROGRAMS, TELEROBOTICS,...
