BAUMAN MOSCOW STATE TECHNICAL UNIVERSITY | DMITROV BRANCH


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GENERAL INFORMATION ON HST

   Principle of operation

   Configuration

   Real-time simulation system

   Man-machine interface control panel simulator

   The industrial Kawasaki robot

   TV-system

SPACE MANIPULATION ROBOT CONTROL

   Control frames of reference

   Frames, fixed relative to ISS

   Connected with robot frames

   Connected with base point frames

   Linear and angular coordinates

   Motion control commands

   Free motion commands

   Nearby base points motion commands

   Contact operations

HST REMOTE CONTROL

   Method of a remote experiment

   Remote control scheme

   Remote control interface

   Generating a robot mission

RUN REMOTE EXPERIMENT

CONTACT INFORMATION
 
GENERAL INFORMATION ON HST
The Internet Laboratory "ROBOTICS" has been created on the basis of the unique Hybrid Simulating Testbed (HST) designed by the Dmitrov Branch of the Bauman University for trying out space robot control procedures. The Laboratory allows comprehensive laboratory training on real sophisticated robotic equipment by means of network access technologies.

HST is complex hybrid (i.e. with hardware-in-the-loop) simulation facility. HST comprises several PCs connected via network, industrial robots, man-machine interface tools, multimedia systems with image transmission via Internet. The site contains information on the testbed structure: photographs, characteristics and operation schemes of the testbed components. Here you will be able to choose reference frames for control, motion control commands, user interface for HST remote control. Remote users can create their individual scenarios in the form of a sequence of motion control commands. HST allows to realize the study of kinematics, dynamics and control processes of various manipulators. As applied to space robot manipulators, HST allows their features researching in the absence of Earth's gravity. The Internet Laboratory can therefore be used as a tool for training operators for space robot manipulator control.