Mobility And Manipulation Of A Light-weight Space Robot
Mobility And Manipulation Of A Light-weight Space Robot
复制标题
DOI：
10.1109/iros.1992.587291
复制
发表时间：
1992-07
期刊：
影响因子：
--
通讯作者：
Yangsheng Xu;H. B. Brown;Shigeru Aoki;T. Kanade
中科院分区：
文献类型：
--
作者：
Yangsheng Xu;H. B. Brown;Shigeru Aoki;T. Kanade
摘要：卡内基梅隆大学机器人研究所开发了一种轻型空间机械臂——自移动机械臂（SM2）。 SM2 是 7 个自由度、1 3 比例的实验室版本机器人，设计用于在自由空间站的桁架和其他外表面上行走，并执行检查、维护和施工所需的操作任务。 SM2集移动和操纵功能于一身，作为一种移动机械手，能够完成检查、零件运输、物体照明和简单装配程序等日常任务。该系统将为宇航员提供帮助，并大大减少宇航员舱外活动（EVA）的需要。本文讨论了SM2系统的机器人硬件开发、重力补偿系统、控制结构和遥操作功能，并展示了其在空间应用中的运动和操纵能力。
Abstract We have developed a light-weight space manipulator, Self-Mobile Manipulator (SM2), in the Robotics Institute of Carnegie Mellon University. SM2 is a 7 DOF, 1 3 - scale , laboratory version of a robot designed to walk on the trusswork and other exterior surfaces of Space Station Freedom, and to perform manipulation tasks that are required for inspection, maintenance, and construction. Combining the mobility and manipulation functions in one body SM2, as a mobile manipulator, is capable of routine tasks such as inspection, parts transportation, object lighting, and simple assembly procedures. The system will provide assistance to astronauts and greatly reduce the need for astronaut extra-vehicular activity (EVA). This paper discusses the robot hardware development, gravity compensation system, control structure and teleoperation functions of SM2 system, and demonstrates its capabilities of locomotion and manipulation in space applications.