Real-time tracking of objects for a KC-135 microgravity experiment
- Author
- Littlefield, Mark L.
- Published
- Mar 1, 1994.
- Physical Description
- 1 electronic document
Online Version
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- Restrictions on Access
- Unclassified, Unlimited, Publicly available.
Free-to-read Unrestricted online access - Summary
- The design of a visual tracking system for use on the Extra-Vehicular Activity Helper/Retriever (EVAHR) is discussed. EVAHR is an autonomous robot designed to perform numerous tasks in an orbital microgravity environment. Since the ability to grasp a freely translating and rotating object is vital to the robot's mission, the EVAHR must analyze range image generated by the primary sensor. This allows EVAHR to locate and focus its sensors so that an accurate set of object poses can be determined and a grasp strategy planned. To test the visual tracking system being developed, a mathematical simulation was used to model the space station environment and maintain dynamics on the EVAHR and any other free floating objects. A second phase of the investigation consists of a series of experiments carried out aboard a KC-135 aircraft flying a parabolic trajectory to simulate microgravity.
- Other Subject(s)
- Collection
- NASA Technical Reports Server (NTRS) Collection.
- Note
- Document ID: 19950005128.
Accession ID: 95N11541.
AIAA PAPER 94-1285-CP.
NASA. Johnson Space Center, Conference on Intelligent Robotics in Field, Factory, Service and Space (CIRFFSS 1994), Volume 2; p 750-756. - Terms of Use and Reproduction
- Copyright, Distribution as joint owner in the copyright.
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