Supporting Training on a Robotic Simulator using a Flexible Path Planner

摘要

Abstract. Manipulating the Space Station Remote Manipulator (SSRMS) on the International Space Station (ISS) is a very challenging task. The operator does not have a direct view of the scene of operation and must rely on cameras mounted on the manipulator and at strategic places of the environment where it operates. In this paper, we describe how a new approach for robot path planning called FADPRM can be used to support the training of astronauts on such a manipulator and under this big constraint of restricted sight.