Dynamic tool vectors for robo-centric control

Abstract

A new paradigm is explored for controlling free-flying robots using a robot-centered coordinate strategy. The use of "dynamic" tool vectors for controlling manipulator motion is key to the development of this new approach. Variable tool vectors allow the arms to function in multiple roles, including camera positioning and self-maneuvering of the vehicle. In addition, these concepts are embodied in a resolved-rate architecture for controlling manipulators in robo-centric operations. The ranger neutral buoyancy vehicle, currently under development at the University of Maryland Space Systems Laboratory, is used to illustrate the application of this approach.