This paper describes the robot arm control design of the TORVEastro project. TORVEastro is a research program dedicated to the development of a new service robot that can assist astronauts in extravehicular activities (EVA) aboard orbiting space stations. After a brief description of the electronic system architecture and its implementation on the laboratory demonstrator robot, the control design is described. Preliminary control tests of a single arm with its basic movements are then illustrated; finally, the main critical aspects and results are reviewed.
Arm Control Design in TORVEastro Prototype
Cupertino G.;Cipollini A.;Santoro M.;Paoloni M.
2023-01-01
Abstract
This paper describes the robot arm control design of the TORVEastro project. TORVEastro is a research program dedicated to the development of a new service robot that can assist astronauts in extravehicular activities (EVA) aboard orbiting space stations. After a brief description of the electronic system architecture and its implementation on the laboratory demonstrator robot, the control design is described. Preliminary control tests of a single arm with its basic movements are then illustrated; finally, the main critical aspects and results are reviewed.File in questo prodotto:
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