국내 최대 기계 및 로봇 연구정보

기술보고서

기술보고서 게시판 내용
타이틀	Toolkits Control Motion of Complex Robotics
저자	none
Keyword	BODY KINEMATICS;; COMPUTER PROGRAMS;; CONTROLLABILITY;; END EFFECTORS;; FLEXIBILITY;; ROBOT ARMS;; TECHNOLOGY UTILIZATION
URL	http://hdl.handle.net/2060/20110000728
보고서번호	NASA/NP-2010-06-659-HQ
발행년도	2010
출처	NTRS (NASA Technical Report Server)
ABSTRACT	That space is a hazardous environment for humans is common knowledge. Even beyond the obvious lack of air and gravity, the extreme temperatures and exposure to radiation make the human exploration of space a complicated and risky endeavor. The conditions of space and the space suits required to conduct extravehicular activities add layers of difficulty and danger even to tasks that would be simple on Earth (tightening a bolt, for example). For these reasons, the ability to scout distant celestial bodies and perform maintenance and construction in space without direct human involvement offers significant appeal. NASA has repeatedly turned to complex robotics for solutions to extend human presence deep into space at reduced risk and cost and to enhance space operations in low Earth orbit. At Johnson Space Center, engineers explore the potential applications of dexterous robots capable of performing tasks like those of an astronaut during extravehicular activities and even additional ones too delicate or dangerous for human participation. Johnson''s Dexterous Robotics Laboratory experiments with a wide spectrum of robot manipulators, such as the Mitsubishi PA-10 and the Robotics Research K-1207i robotic arms. To simplify and enhance the use of these robotic systems, Johnson researchers sought generic control methods that could work effectively across every system.