Design and implementation of a laboratory test bed for space robotics: the VES mod II

Steven Dubowsky, William Durfee, Andrew Kuklinski, Uwe Muller, Igor Paul, Jack Pennington

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Scopus citations

Abstract

The dynamic interaction between a space robotic manipulator and its base can make its control difficult. Control and planning algorithms have been proposed to compensate for this dynamic interaction. A laboratory test bed is described which was developed and built to emulate the dynamic behavior of space robotic systems and investigate proposed algorithms. Experimental results are presented which demonstrate the effectiveness of this test bed in studying the dynamic coupling between a space manipulator and its spacecraft.

Original languageEnglish (US)
Title of host publication23rd Biennial Mechanisms Conference
PublisherASME
Pages99-108
Number of pages10
Volume72
Editionpt 3
StatePublished - Dec 1 1994
EventProceedings of the 1994 ASME Design Technical Conferences. Part 1 (of 3) - Minneapolis, MN, USA
Duration: Sep 11 1994Sep 14 1994

Other

OtherProceedings of the 1994 ASME Design Technical Conferences. Part 1 (of 3)
CityMinneapolis, MN, USA
Period9/11/949/14/94

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Dubowsky, S., Durfee, W., Kuklinski, A., Muller, U., Paul, I., & Pennington, J. (1994). Design and implementation of a laboratory test bed for space robotics: the VES mod II. In 23rd Biennial Mechanisms Conference (pt 3 ed., Vol. 72, pp. 99-108). ASME.