Autonomous robotic positioning umbilical system
作者： N. Housbangi
DOI: 10.1109/ICSMC.2000.884454
关键词:
摘要: The work presented in this paper describes the development of an autonomous umbilical positioning system. A NASA unmanned mission will place a propellant manufacturing and nuclear facility on surface Mars. In subsequent mission, space vehicle land within 1 km for safety reasons. wheeled mobile robot be used to make connection facility. mate-in plate is mounted Cartesian manipulator, which installed base. controlled teleoperated mode. operator use vision feedback guide base get close mate-to plate. When local zone, control switched information received from ultrasonic sensors identify position mate plates. successful experimentation verifies approach.
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