Accession Number : ADA311010

Title :   Tessellator Robot Design Document.

Descriptive Note : Technical rept.,

Corporate Author : CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST

Personal Author(s) : Dowling, Kevin

PDF Url : ADA311010

Report Date : JAN 1996

Pagination or Media Count : 225

Abstract : This report documents the preliminary design for a mobile manipulator system to service the Space Shuttle. This document arose from the Mobile Robot Design Course in the Spring of 1991 held at Carnegie Mellon's Robotics Institute. A wide number of issues are addressed including mechanical configuration and design, software and hardware architectures, sensing, power, planning, and a number of design process issues as well. Many comparisons and analyses are presented and much of this work helped formulate decisions and designs in the eventual robot system, and Tessellator.

Descriptors :   *ROBOTS, *SPACE SHUTTLES, DATA BASES, SIGNAL PROCESSING, SOFTWARE ENGINEERING, IMAGE PROCESSING, SCENARIOS, MANEUVERABILITY, DEPLOYMENT, SYSTEMS ENGINEERING, COMPUTER AIDED DESIGN, REAL TIME, OFF THE SHELF EQUIPMENT, KALMAN FILTERING, ACCURACY, COMPUTER ARCHITECTURE, EFFICIENCY, INPUT OUTPUT PROCESSING, COMPATIBILITY, RELIABILITY, SCHEDULING, GLOBAL POSITIONING SYSTEM, REMOTE DETECTORS, MAINTENANCE MANAGEMENT, SYSTEMS ANALYSIS, AUTONOMOUS NAVIGATION, CONTROL THEORY, DESIGN CRITERIA, GROUND SUPPORT EQUIPMENT, MANIPULATORS, FAULT TOLERANCE, REMOTE CONTROL, SYSTEM SAFETY, SPACE NAVIGATION, WING TIPS, SEARCH SONAR.

Subject Categories : Cybernetics
      Manned Spacecraft

Distribution Statement : APPROVED FOR PUBLIC RELEASE