Recent developments at the Goddard engineering testbed

Stephen Leake; Edward B. Cheung

doi:10.1117/12.131696

1 November 1992 Recent developments at the Goddard engineering testbed

Stephen Leake, Edward B. Cheung

Proceedings Volume 1829, Cooperative Intelligent Robotics in Space III; (1992) https://doi.org/10.1117/12.131696
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States

Abstract

The Goddard robotics effort is alive and well, even after the sad demise of the flight telerobotic servicer (FTS). We have released a technical report on the design and implementation of a flexible robot control system architecture, and are in the process of prototyping it. The architecture is based on our experience in implementing NASA Standard Reference Model Architecture (NASREM) and the prototype FTS control system in Ada. We have successfully demonstrated the integration of the capaciflector proximity sensor for docking and berthing. We can even still do state of the art force reflecting teleoperation, thanks to adding a sixth motor to the Kraft hand controllers. We look forward to transferring some of this technology to other NASA centers.

Citation Download Citation

Stephen Leake and Edward B. Cheung "Recent developments at the Goddard engineering testbed", Proc. SPIE 1829, Cooperative Intelligent Robotics in Space III, (1 November 1992); https://doi.org/10.1117/12.131696

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