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
 
HST REMOTE CONTROL
The Remote Access Laboratory for Robotics is designed on the basis of the Hybrid Simulating Testbed (HST) for the International Space Station manipulators. The HST was designed at Bauman University and has successfully operated there for the past few years. The HST serves as a backbone for building simulators to test the principles and algorithms of robotic system remote control, and is also used for training the personnel to support robotic operations in space. At present the HST includes the latest industrial robot of the Kawasaki Company. At the first stage, the interactive training subsystem provides the try-out of the virtual robot control modes via the Internet. The next step of training in the interactive mode is the remote control of a real robot.


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