CONFIGURATION AND DESIGN STUDY OF MANIPULATOR SYSTEMS APPLICABLE TO THE FREE-FLYING TELEOPERATOR VolumeⅠ:EXECUTIVE

摘要

A preliminary design of a manipulator system, applicable to a Free-Flying Teleoperator Spacecraft operating in conjunction with the Shuttle or Tug, is presented. The preliminary design is shown to be within today's state-of-the-art as reflected by the typical "off-the-shelf" components selected for the design. A new, but relatively. simple, control technique is proposed for application to the manipula¬tor system. This technique, a range/azimuth/elevation rate-rate mode, was selected based upon the results of man-in-the-loop simulations. Several areas are identified in which additional emphasis must be placed prior to the development of the manipulator system. The study results in a manipulator system which, when developed for space applications in the near future, will provide an effective method for servicing, maintaining, and repairing satellites to increase their useful life.