Real-time control of the MIT vehicle emulation system

William K. Durfee, Husni R. Idris, Steven Dubowsky

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

8 Scopus citations

Abstract

The MIT vehicle emulation system (VES) is an experimental facility designed to facilitate the study of controlling robots fixed to nonstationary bases. This includes assembly and repair manipulators attached to space vehicles, or to the space shuttle arm, as well as manipulators fixed to the bed of moving ground vehicles. Controlling manipulators under these conditions for endpoint force and positioning tasks requires both the development of new theory, and the development of a testbed for verifying theoretical results through experimentation. A description is presented of the technical details of the real-time controller for the second generation VES system.

Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
Editors Anon
PublisherPubl by American Automatic Control Council
Pages2057-2058
Number of pages2
ISBN (Print)0879425652
StatePublished - Dec 1 1991
EventProceedings of the 1991 American Control Conference - Boston, MA, USA
Duration: Jun 26 1991Jun 28 1991

Publication series

NameProceedings of the American Control Conference
Volume2
ISSN (Print)0743-1619

Other

OtherProceedings of the 1991 American Control Conference
CityBoston, MA, USA
Period6/26/916/28/91

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Durfee, W. K., Idris, H. R., & Dubowsky, S. (1991). Real-time control of the MIT vehicle emulation system. In Anon (Ed.), Proceedings of the American Control Conference (pp. 2057-2058). (Proceedings of the American Control Conference; Vol. 2). Publ by American Automatic Control Council.