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
 
SPACE MANIPULATION ROBOT CONTROL
The manipulator control may be realized in two regimes:
  • Action control - one command or sequence of commands (auto-sequence) loading and execution;
  • Motion control (manual or automatic) - frame of reference selection and motion parameters defining for each displacement.