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test.col.pp4 Fundamental Concept of Robotic Servicing Human Workload Issues? Control Station Design? Manipulator Design? Ground Control? Flexible Connections to Work Site? Multi-arm Control and Operations? Interaction with Nonrobot Compatible Interfaces? Utility of Interchangeable End Effectors? Ground-based Simulation Technologies? Capabilities and Limitations? Hazard Detection and Avoidance? Development, Production, and Operating Costs? Effects and Mitigation of Time Delays? Space Systems Laboratory University of Maryland
test.col.pp4 Beam Assembly Teleoperator Space Systems Laboratory University of Maryland
Page 1 and 2: test.col.pp4 University of Maryland
Page 3: test.col.pp4 ARAMIS Telerobotics St
Page 7 and 8: test.col.pp4 Ranger Telerobotic Fli
Page 9 and 10: test.col.pp4 Ranger Neutral Buoyanc
Page 11 and 12: test.col.pp4 SSL Relevant Experienc
Page 13 and 14: test.col.pp4 Robotic HST Servicing
Page 15 and 16: test.col.pp4 Dexterous Arm Design O
Page 17 and 18: test.col.pp4 Dexterous Manip System
Page 19 and 20: test.col.pp4 Wrist Roll Drive (aft)
Page 21 and 22: test.col.pp4 φ (deg) 1080 720 (deg
Page 23 and 24: test.col.pp4 Inner Wrist (Exploded
Page 25 and 26: Bearing Installed Directly in Housi
Page 27 and 28: test.col.pp4 Dexterous Arm Paramete
Page 29 and 30: test.col.pp4 Design Loads (continue
Page 31 and 32: test.col.pp4 Singularity Avoidance
Page 33 and 34: test.col.pp4 Interchangeable End-Ef
Page 35 and 36: test.col.pp4 IEEM Exploded View Spa
Page 37 and 38: test.col.pp4 State 2: Manipulator E
Page 39 and 40: test.col.pp4 State 5: Disengage Too
Page 41 and 42: test.col.pp4 Schematic of IEEM Bear
Page 43 and 44: test.col.pp4 Tool Drives • Tool D
Page 45 and 46: test.col.pp4 Bare Bolt Drive RTSX E
Page 47 and 48: test.col.pp4 Microconical End Effec
Page 49 and 50: test.col.pp4 • Interfaces APFR Pa
Page 51 and 52: test.col.pp4 Task Interfaces - APFR
Page 53 and 54: Design Requirements • Control ele
Page 55 and 56:
Inner Housing Absolute Encoder test
Page 57 and 58:
test.col.pp4 Components: Harmonic D
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test.col.pp4 Components: Incrementa
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test.col.pp4 Components: Absolute E
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test.col.pp4 Components: V-Clamp 40
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test.col.pp4 PXL Underwater Operati
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test.col.pp4 Ground Control Station
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test.col.pp4 Flight Control Station
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test.col.pp4 • Power GCS Services
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test.col.pp4 GCS Components: Ops Co
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test.col.pp4 Predictive and Command
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test.col.pp4 Commanded and Predicti
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45 35 25 15 5 -5 test.col.pp4 Erron
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test.col.pp4 Summary Control Scheme
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test.col.pp4 60 50 40 30 20 10 0 No
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test.col.pp4 Overall Ranking of Eff
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test.col.pp4 Conclusions (1 of 2)
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Future Research • Reevaluate ster
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test.col.pp4 How the Robot Interact
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Engineering Arm Performing HST ECU
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test.col.pp4 Impact of Ranger-class
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test.col.pp4 Results of Robot Dexte
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test.col.pp4 HERCULES (Single Arm;
Page 101 and 102:
HERCULES (Dual Arm; EVA Operations)
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test.col.pp4 Estimates of Relative
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test.col.pp4 HERCULES Proof-of-Conc
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test.col.pp4 SM4R(obotic) Concept O
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test.col.pp4 Dexterous Robotics - R
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test.col.pp4 Servicing Option 2 •
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test.col.pp4 Modifications to Exist
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test.col.pp4 Launch Vehicle Conside
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test.col.pp4 Assumptions: • 300 m
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test.col.pp4 Why SM4R? • No other
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test.col.pp4 Ranger on SMV Space Sy
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