Accession Number : ADA189856

Title :   The Mobile Remote Manipulator System Simulator,

Corporate Author : MARYLAND UNIV COLLEGE PARK SYSTEMS RESEARCH CENTER

Personal Author(s) : Sinha, Velu

PDF Url : ADA189856

Report Date : 15 Dec 1986

Pagination or Media Count : 9

Abstract : During the spring of 1986 a group of students at the University of Maryland under the leadership of Dr. P.S. Krishnaprasad designed a Mobile Remote Manipulator System for the Space Station In order to test the MRMS design, a simulator was constructed on a Iris 2400 series graphics workstation. The MRMS Simulator allowed the Iris to play the role of the MRMS, and at the same time allow the user to view the MRMS from the perspective which was best suited to the task being viewed. The MRMS Simulator also made extensive use of distributed processing to simulate the actual distributed, wide-spread environment in which the actual MRMS control would occur. The simulation was divided into the following tasks: Command Systems - the user interface to the simulation tasks, as well as the individual MRMS controls; Control System - controlling the kinematics of the MRMS. Dealing also with collision avoidance, safety, etc.; and Display System - a graphical representation of the MRMS with a moveable view-point, allowing for the MRMS to be viewed from any position in its universe.

Descriptors :   *CONTROL SYSTEMS, *MANIPULATORS, *REMOTE CONTROL, COLLISION AVOIDANCE, DISPLAY SYSTEMS, DISTRIBUTED DATA PROCESSING, GRAPHICS, INTERFACES, KINEMATICS, LEADERSHIP, MARYLAND, MOBILE, REMOTE SYSTEMS, SIMULATION, SPACE STATIONS, STUDENTS, USER NEEDS, COMPUTERIZED SIMULATION, COMPUTER ARCHITECTURE, COMMAND AND CONTROL SYSTEMS

Subject Categories : Computer Programming and Software
      Computer Hardware
      Human Factors Engineering & Man Machine System

Distribution Statement : APPROVED FOR PUBLIC RELEASE