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
 
Method of a remote experiment
Method of a remote experiment in control of a virtual robot or real robotic equipment via the global network includes the following main stages:
  1. familiarization of a remote user with the purpose and peculiarities of the given object, and with the list of subsystems allowing remote adjustment of operation modes;
  2. detailed study of the subsystems whose operation modes can be changed via the Internet;
  3. familiarization with the possible operation modes of the subsystems and recommendations on their realization;
  4. familiarization with the control interfaces of the subsystems, and practicing in using them for changing the settings;
  5. user testing to assess his knowledge of material;
  6. sending an application for a remote experiment, e.g. by e-mail, and payment for services if required;
  7. allocating passwords for entering the control mode, and a time span for the experiment;
  8. entering the control mode;
  9. selecting a control scenario from those available on the control server;
  10. generating a scenario and modes of remote experiment;
  11. checking the feasibility of the selected modes within the allocated time span;
  12. sending the scenario to the object server using the appropriate protocols;
  13. physical connection of the object control server with the control computer at the object location;
  14. transmitting the scenarios and control modes to the control computer;
  15. launching the scenario and running the remote experiment;
  16. presenting the results of the experiment on the control server.