Searched for: subject%3A%22Robotics%22
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Bos, J.F.T. (author), Oort, M.J.A. (author)
Currently Fokker Space B.V. is developing the European Robotic Arm (ERA) under contract of the European Space Agency (ESA). ERA's main mission is the assembly and servicing of the Russian Segment of the International Space Station Alpha. The purpose of this paper is to describe how the safety requirements, given the specific possibilities and...
report 1997
document
Brouwer, M.P.A.M. (author), Pronk, Z. (author), Visser, F.B. (author), de Haas, J. (author)
At the early beginning (1989) of implementation of the European User Support Organisation (USO) concept, development and implementation of a Dutch Utilisation Centre (DUC) started at NLR premises. After development of several pilot DUC facilities, DUC participated in a Columbus simulation mission and in the 2nd International Micro-gravity...
report 1996
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Bos, J.F.T. (author), Stassen, H.G. (author), van Lunteren, A. (author)
When an operator has to control a space manipulator manually he is faced with several difficulties. Three problems were investigated: Lack of direct vision, up to 6 degrees-of-freedom (DOF) to be controlled, and slow and complex dynamics. The results showed that reference lines enhance the 3D perception; further autonation of the insert task led...
report 1992
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van Woerkom, P.T.L.M. (author)
Numerical simulation of the dynamics of multi-body systems constitutes a central part in the design and analysis of modern space-based systems. The report focuses on the development of a recursive formulation of the dynamics of flexible spacecraft-robotmanipulator systems, suitable for efficient numerical simulation. The rather well-established...
report 1990
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ten Dam, A.A. (author)
A mathematical theory for modelling dynamical systems with equality state-space constraints is presented. The dynamic behaviour of these systems is represented by a combination of differential and algebraic equations. It Is shown that the freedom offered by control is essential to obtain other, mathematically equivalent formulations. The notion...
report 1990
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Groothuizen, R.J.P. (author)
An inverse robot kinematics method is being developed that is to be applicable to any sequential rigid robot. In this report, first requirements are identified and a survey of existing methods is given. An. evaluation of these methods with respect to the requirements then shows that a method based on optimization is the best candidate. It...
report 1990
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ten Dam, A.A. (author)
Numerical simulation of constrained dynamical systems is known to exhibit stability problems even when the unconstrained system can be simulated in a stable manner. We show that not the constraints themselves, but the transformation of a continuous set of equations to a discrete set of equations is the true source of the stability problem....
report 1990
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ten Dam, A.A. (author), Dieleman, P. (author)
This report describes the results of an evaluation of numerical integration schemes to be used for the digital simulation of second order ordinary differential equations (ODE's) which are characteristic for multibody systems such as space manipulators. The study focuses on dedicated schemes for this type of systems. Main attention is paid to the...
report 1990
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van Woerkom, P.T.L.M. (author)
The report contains the development of the dynamics equations of a spacecraftmanipulator system with chain topology. The spacecraft may be flexible. The attached manipulator consists of an arbitrary number of links, connected by single degree-of-freedom rotational joints. None, any, or all of the links may be flexible. A rigid or flexible...
report 1990
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Prins, J.J.M. (author), Dieleman, P. (author), van Woerkom, P.T.L.M. (author)
The Hermes manipulation system (HERA) is a sophisticated space manipulator system, which has to perform tasks ranging from berthing to tool operation in various operational modes from fully automatic to purely manual. Development and qualification of such a space-based manipulator must be supported by computer simulation facilities. The HERA...
report 1989
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Prins, J.J.M. (author), Dieleman, P. (author), de Jong, H. (author)
The Hermes manipulation system (HERA) is a sophisticated space manipulator system, which has to perform tasks ranging from berthing to tool operation in various operational modes from fully automatic to purely manual. The HERA system main contractor is Fokker Space & Systems B.V. (FSS). Development and qualification of such a space-based...
report 1989
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van Woerkom, P.T.L.M. (author)
For the simulation of rigid spacecraft manipulator dynamics there exists efficient recursive software. Extension of this software for the simulation of flexible spacecraft-manipulator dynamics would have important advantages. In this paper the method of Equivalent Flexibility Modelling (EFM) is outlined. Each flexible body is re-modelled as a...
report 1989
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van Woerkom, P.T.L.M. (author), Steenman, G.J.J. (author)
The objective of the study is the synthesis of an algorithm for the automatic control of an electromechanical actuator in the rotational joint of a multi-link, robotic manipulator. Control performance is assessed in terms of ability of the controlled joint to follow a commanded joint angle, or a commanded joint angular rate. Part One of the...
report 1988
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Kuijpers, E.A. (author)
Existing robot vision algorithms are evaluated for application in space for proximity extraction using one camera. Lighting conditions and image formation differ from earth conditions which have implications. An algorithm is derived which is based on the use of run coding, tracking and a least mean error method. Problems concerning hardware...
report 1987
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van Woerkom, P.T.L.M. (author)
The objective of the study is to contribute towards the formulation of a mathematical truth model for the dynamics of a robotic manipulator which is attached to an orbiting spacecraft-manipulator system consisting of rigid constituent body is assumed to be known; here the generalization to the case of structurally flexible bodies is attempted....
report 1987
document
Prins, J.J.M. (author), Dieleman, P. (author), Hoogstraten, J.A. (author)
The Hermes Manipulation System (HERA) will be an important part of the Hermes space plane system. The HERA is a sophisticated space manipulator system, which has to perform tasks ranging from capture and berthing to tool operation in various operational modes from fully automatic to purely manual. The HERA system main contractor is Fokker Space ...
report 1987
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Pronk, C.N.A. (author), Ersü, E. (author), Lippay, A.L. (author), Elfving, A. (author)
Recently, the European Space Agency (ESA) initiated two studies to define a simulation facility for space operations involving space manipulators and other in-orbit servicing and assembly systems. This European Robotic Operations Simulator (EUROSIM) will play an important role during system development as well as prior and parallel to...
report 1987
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van Woerkom, P.T.L.M. (author), Guelman, M. (author)
Four well-known formalisms for mathematical modelling of the dynamics of a spacecraft/manipulator system are derived from the unifying d'Alembert principle. The Newton-Euler formalism is discussed in more detail, as it allows efficient numerical simulation. An algorithm is defined for the control of the manipulator end-effector motion in...
report 1987
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Pronk, C.N.A. (author)
In the framework of ESA's programma for Robotics, Tele-operation and Servicing (RTS) a powerful simulation tool has to be developed to support the various stages in the development process of systems and operations. Therefore, ESA has initiated the development of a European Robotic Operations Simulator (EUROSIM). Two parallel studies, funded and...
report 1987
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Guelman, M. (author)
The mathematical model of a space based manipulator arm with a rate controlled end effector is defined and the recursive algorithms for the computation of the basic djmamic functions are formulated. A digital simulation of this system is implemented and preliminary results are presented. Actual running times for the simulation In a VAX 750...
report 1986
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