Serpentine Manipulator Planning and Control for NASA Space-Shuttle PayW Servicing ls!!iiI T

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1、SerpentineManipulatorPlanningandControlforNASASpace-ShuttlePayloadServicingHermanHermanandHagenSchempfCMU-RI-TR-92-10TheRoboticsInstituteCarnegieMellonUniversityPittsburgh,Pennsylvania15213October199201992CamegieMellonUniversitySerpentineManipulatorPlanningan

2、dControlforNASASpace-ShuttlePayWServicingls!!iiITableofContents1.Abstract.......................................................................................................................................4..2.ApplicabonsBackground.........................

3、..................................................................................52.1PayloadChangeoutRoom(PCR)-FacilityConfigurationandAttributes.........................52.2SerpentineManipulatorforPayloadServicing............................................

4、.......................63.TechnicalBackground..............................................................................................................153.1Introduction.......................................................................................

5、................................153.2Approach...........................................................................................................................16...3.3Generatingthemitdpath..............................................................

6、...................................183.4Snakes...............................................................................................................................203.5Manipulatorbehavior..............................................................

7、..........................................223.5.1Extensionandretractionofthemanipulator............................................................223.5.2Fittingthemanipulatorontothesnake....................................................................223.

8、5.2.1Fittingthemanipulatordirectlytothesnake..................................................233.5.2.2Fittingthemanipulatortothesnakewithaniterativescheme.......................233.6Theo