The Mobile Remote Manipulator System Simulator,

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.

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Document Details

Document Type
Technical Report
Publication Date
Dec 15, 1986
Accession Number
ADA189856

Entities

People

  • Velu Sinha

Organizations

  • University of Maryland

Tags

Communities of Interest

  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Collision Avoidance
  • Collision Avoidance Systems
  • Collisions
  • Computers
  • Computing System Architectures
  • Control
  • Control Systems
  • Data Transmission
  • Display Systems
  • Error Analysis
  • Ethernet
  • Expert Systems
  • Network Protocols
  • Simulations
  • Simulators
  • Universities
  • User Interface

Readers

  • Ballistic Missile Meteorology
  • Computational Fluid Dynamics (CFD)
  • Database Systems and Applications

Technology Areas

  • Space
  • Space - Spacecraft Maneuvers