Development of the ALSARM-EE for a Biomass Production Chamber at the Kennedy Space Center

摘要

The objective of this research is development of an Advanced Life Support Automated Robotic Manipulator -End Effector (ALSARM-EE); a robotic system to be used in the Biomass production chamber (BPC) at Kennedy space center (KSC). The ALSARM-EE is composed of a seven degree-of-freedom robot system that has an automated control. It provides automated and manual data measurement capabilities while maintaining the chamber integrity by positioning a sensor array via remote operator commands. This paper shows robotic system requirements and presents the rationale behind the ALSARM and its end-effector. The attributes of this ALSARM-EE system are: (1) LabWindows software that can automate input measurement points or can load input points through "teach pendent", (2) provide "master-slave" three-degree-of-freedom direction of the end-effector, and (3) integrated control framework providing closed-loop nonlinear learning control embedded in a model-based self-configuring autonomous system.