Start Date
4-1988 8:00 AM
Description
NASA has long desired the ability to remotely connect, disconnect, and reconnect the umbilical fuel lines to the Space Shuttle Vehicle (SSV). The Robotic Application and Development Laboratory (RADL) at Kennedy Space Center has been investigating the application of robotics to this problem. A generic remote umbilical system has been identified for a proof-of-concept demonstration, wherein a robot is used to mate an umbilical connector with a moving target representing the SSV. This task is a variation of the classic peg-inthe- hole problem, where the hole is undergoing random motions.
For umbilical docking, the ability to minimize and control contact forces between the umbilical lines and the SSV is vital. These forces occur both during the mating of the fuel line with the SSV and also as a result of the relative motion between the robot and the SSV after mating.
This paper describes work on the force feedback control problems encountered by the RADL for umbilical mating. An outline of a proposed docking protocol is first presented, indicating the role required offeree feedback. The use of active force feedback control is described, along with the performance requirements and experimental results. Proposed modifications to the existing force feedback controller, including passive compliance requirements are described. Finally description of future work is presented.
The Use of Force Feedback Control for Robotic Mating of Umbilical Fuel Lines
NASA has long desired the ability to remotely connect, disconnect, and reconnect the umbilical fuel lines to the Space Shuttle Vehicle (SSV). The Robotic Application and Development Laboratory (RADL) at Kennedy Space Center has been investigating the application of robotics to this problem. A generic remote umbilical system has been identified for a proof-of-concept demonstration, wherein a robot is used to mate an umbilical connector with a moving target representing the SSV. This task is a variation of the classic peg-inthe- hole problem, where the hole is undergoing random motions.
For umbilical docking, the ability to minimize and control contact forces between the umbilical lines and the SSV is vital. These forces occur both during the mating of the fuel line with the SSV and also as a result of the relative motion between the robot and the SSV after mating.
This paper describes work on the force feedback control problems encountered by the RADL for umbilical mating. An outline of a proposed docking protocol is first presented, indicating the role required offeree feedback. The use of active force feedback control is described, along with the performance requirements and experimental results. Proposed modifications to the existing force feedback controller, including passive compliance requirements are described. Finally description of future work is presented.
Comments
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