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A hazard control system for robot manipulators
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Carter, Ruth Chiang Rad, Adrian |
| Copyright Year | 1991 |
| Description | A robot for space applications will be required to complete a variety of tasks in an uncertain, harsh environment. This fact presents unusual and highly difficult challenges to ensuring the safety of astronauts and keeping the equipment they depend on from becoming damaged. The systematic approach being taken to control hazards that could result from introducing robotics technology in the space environment is described. First, system safety management and engineering principles, techniques, and requirements are discussed as they relate to Shuttle payload design and operation in general. The concepts of hazard, hazard category, and hazard control, as defined by the Shuttle payload safety requirements, is explained. Next, it is shown how these general safety management and engineering principles are being implemented on an actual project. An example is presented of a hazard control system for controlling one of the hazards identified for the Development Test Flight (DTF-1) of NASA's Flight Telerobotic Servicer, a teleoperated space robot. How these schemes can be applied to terrestrial robots is discussed as well. The same software monitoring and control approach will insure the safe operation of a slave manipulator under teleoperated or autonomous control in undersea, nuclear, or manufacturing applications where the manipulator is working in the vicinity of humans or critical hardware. |
| File Size | 527762 |
| Page Count | 11 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19920013441 |
| Archival Resource Key | ark:/13960/t9w14012m |
| Language | English |
| Publisher Date | 1991-12-01 |
| Access Restriction | Open |
| Subject Keyword | Mechanical Engineering Teleoperators Aerospace Environments Space Shuttle Payloads Manipulators Hazards Robotics Space Stations Robot Arms Systems Engineering Safety Management Safety Factors Automatic Control Autonomy Control Theory Aerospace Safety Damage Robots Technology Utilization Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Article |
