MICROTREX: micro-telerobotic flight experiment

摘要

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-cm~3 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).