Resolving sensor processing issues for intelligent space robotics

Carolyn A. Vallado

doi:10.1117/12.56745

1 March 1992 Resolving sensor processing issues for intelligent space robotics

Carolyn A. Vallado

Proceedings Volume 1612, Cooperative Intelligent Robotics in Space II; (1992) https://doi.org/10.1117/12.56745
Event: Robotics '91, 1991, Boston, MA, United States

Abstract

Processing requirements for the cooperative robot systems necessary for space application are well beyond those of ground-based systems. The volume, weight, and power constraints for space-based robots restrict the designer's choices. This paper discusses the use of custom electronics to resolve the processing issues while maintaining the timing requirements for such systems. There are many robotic algorithms suitable for ASIC implementation -- inverse kinematic solution, state estimation, Riccati's equation, Kalman filtering, force/torque sensing, and force/torque prediction/reflection. We present a solution to a force/torque sensing problem.

Citation Download Citation

Carolyn A. Vallado "Resolving sensor processing issues for intelligent space robotics", Proc. SPIE 1612, Cooperative Intelligent Robotics in Space II, (1 March 1992); https://doi.org/10.1117/12.56745

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