Motion estimation of objects in KC-135 microgravity
- Hewgill, Lisa
- Mar 1, 1994.
- Physical Description:
- 1 electronic document
- Restrictions on Access:
- Unclassified, Unlimited, Publicly available. and Free-to-read Unrestricted online access
- The simulated microgravity environment aboard a KC-135 aircraft flying along a parabolic trajectory was used to study the ability of an autonomous space robot to grasp a freely translating and rotating object. Since the KC-135 cabin environment and the instrumentation for the Extravehicular Activity Helper/Retriever (EVAHR) do not provide a practical intertial reference frame, estimators based on the extended Kalman filter algorithm were used to model the relative translational dynamics of the KC-135 and the EVAHR. The estimator algorithms require intensive mathematical computation and therefore, i860 real-time. Estimator design, implementation concerns, and issues specific to the KC-135 environment are discussed and the architecture of the KC-135 translational state estimator is depicted.
- NASA Technical Reports Server (NTRS) Collection.
- Document ID: 19950005127., Accession ID: 95N11540., AIAA PAPER 94-1284-CP., and NASA. Johnson Space Center, Conference on Intelligent Robotics in Field, Factory, Service and Space (CIRFFSS 1994), Volume 2; p 744-749.
- Copyright, Distribution as joint owner in the copyright.
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