Hampton,. Virginia. Proceedings of a workshop sponsored by the National ... in-house workshop was to assess the state-of-the-art of automation and robotics.
NASA
Conference
Publication
10098
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Automation and Robotics for Space-Based Systems-1991
E) Q_ Edited Robcn
0 NASA
Langley
by
L. Williams
Research
II
Center
Hampton,
Virginia
u,j
o
Proceedings
of a workshop
sponsored
by the National
Aeronautics Administration
I _I
Langley
and Space and heId at
Research Hampton,
I l _uJ
December
Center Virginia !0, 199 I
Zo-
MAY
National Space
Aeronautics
1992
and
Administration
Langley Research Center Hampton, Virginia 23665-5225
Automation for
and
Space-Based
Robotics
Systems P r efa
-
1991
c e
A NASA Langley workshop on Automation and Robotics for Space-Based Systems was held on December 10, 1991, from 8:30 a.m. to 4:00 p.m. This conference proceedings document presents the overhead slides from each speaker at this event. The purpose of this in-house workshop was to assess the state-of-the-art of automation and robotics for space operations from a Langley Research Center perspective and The workshop
to identify areas of opportunity was sponsored by the Guidance,
for
future research. Navigation, and
Control the the
Technical Committee, chaired by Dr. Raymond C. Montgomery. Nineteen talks were given, reflecting a high level of interest in field of automation and robotics at NASA Langley. Over half of presentations came from the Automation Technology Branch,
covering controllers automated missions. space space robots.
telerobotic control, for teleoperation, structural assembly, Other talks covered
crane work, manipulators,
Robert
the
all RMS
applied active
modeling, simulation, and virtual passive
The 1991 NASA Robotics for Space-Based current effort in this field open or renew lines of working in diverse areas summarizes overheads.
EVA and sensors,
IVA neural
telerobotics, networks,
hand and
to space telerobotic damping augmentation,
and control controller
of large, flexible designs for space
Langley Workshop on Automation and Systems provided a good overview of at NASA Langley. The workshop served to communicatign between various researchers of automation and robotics. This document
talks
of
L. Williams
II
this
workshop
using
the
presentation
Automation for
and
Space-Based
Systems
Table
"Summary
of
Compliant
Robotics
of
and
-
1991
Contents
Multi-Arm
Control
at
Langley
Research
Center" Fenton "EVA
"IVA
Robotics
W.
for Robert
Robotics
for
Controller
Space
"Coherent
Laser
"A
Active
Space
and
K.
Damping Michael
G.
Concept
Testing Thomas
Control
Mode"
........................ System
47 and
Taskspace
Identification"
and
59
Control
of
Dynamical
Systems"
. , .........................
Neural
T.
35
...........................
Michael
Crane
and
Vision
Soloway
John "Analysis
Morris
Aldridge
Artificial
........................
Force
Modeling
Don
"RMS
Terry
Networks
"Adaptive
of
19
Freedom"
Jones
RADAR
Hal "Neural
M.
1
Freedom" II ....................
Station
Study A.
......................
Space Station L. Williams
Sharon "Hand
Harrison
Network Arras
67
for
Autonomous
Robot
Control"
.......................
85
Augmentation" Gilbert ......................
for
Performing
Dorsey
93
On-Orbit
Assembly"
........................
of
a
Space
R.
Sutter
Crane and
111 Articulating
K.
Chauncey
Joint Wu
Testbed" .....
123 °°.
Ill
PRECEDING
PAGE
BLANK
NOT
FILMED
Table
of
Contents
(Con't)
"Automated Assembly of Large Space Structures" Overview, Marvin D. Rhodes ..... , ............ Machine Vision, Eric G. Cooper.. .............. End-Effector Microprocessor, William R. Doggett Panel Installation, Cuong Quach ................ Expert Future
System, Work,
"Passive
iv
Control
Control, and Simulation of Flexible Sean P. Kenny ........................ Dynamic
....
Cheryl L. Allen ................ Ralph Will .....................
"On the Use of Torque-Wheels For the Space-Based Telerobotic Arms" Dave Ghosh .......................... "Modeling,
137 153 179 187
Controllers Minh Phan
for Non-Linear ........................
195 203 of
Large,
Flexible, 207
Link
Robotic
Systems" 223
Mechanical
Systems" 233
PRECEDING
PAGE
NOT
FILMED
N92-27773
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