MICROTREX: Micro-Telerobotic Flight Experiment
3
B. Hannaford
S. Venema
A.K. Bejczy
Proceedings AIAA Space Programs and Technologies Conference; AIAA 94-4509, Huntsville, Al, September, 1994
1994 AIAA
http://brl.ee.washington.edu/BRL/publications/Rep088.pdf
The MICROTREX (Micro Telerobotic Experiment) project proposes to use a
small flight telerobot in low earth orbit to perform ground-controlled
telerobotics experiments. These experiments will evaluate the
effectiveness of ground-based control of an orbital telerobot in the
presence of variable communications time-delay using a variety of
control techniques including closed-loop force feedback position
control. The small, lightweight flight system consisting of a
micro-scale (50-cm3 work-volume) direct-drive six degree of freedom
manipulator, an experiment task board, and computer control and
communications hardware will be used to minimize flight mass/power
requirements. The project is currently in "Phase A" status in the NASA
In Space Technology Experiments Program (INSTEP).