Mini-Teleoperation Technology for Space Research
5
B. Hannaford
A.K. Bejczy
P. Buttolo
M. Moreyra
S. Venema
Proceedings of the International Symposium on Microsystems, Intelligent Materials and Robots, pp. 524-527, Sendai, Japan, September, 1995
1995 TU
http://brl.ee.washington.edu/BRL/publications/Rep097.pdf
A small direct drive serial manipulator has been developed for
applications in sample handling for scientific payloads in space. The
manipulator is about 15 cm in length, and has 5-10 microns positioning
precision. The prototype forms the basis for design of the MicroTrex
flight experiment for NASA. The experiment will measure performance of
the robot in low earth orbit under control from a ground station. This
paper describes the design of the manipulator, some experimental
results of the manipulator performance, and plans for space flight
testing.