Certificate of Registration Media number Эл #ФС77-53688 of 17 April 2013. ISSN 2308-6033. DOI 10.18698/2308-6033
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Three-dimensional graphic interpretation of manipulator telemetry data

Published: 24.02.2016

Authors: Kotuzhenko N.V., Savin L.A.

Published in issue: #2(50)/2016

DOI: 10.18698/2308-6033-2016-2-1465

Category: Mechanical Engineering and Machine Science | Chapter: Robots, Mechatronics, and Robotic Systems

The article describes a variant of using telemetric information coming in real time at MCC to determine the spatial forms of manipulators and their position with respect to the International Space Station structure and to display the obtained data as a threedimensional picture corresponding to the current condition of the real manipulators and the station. This idea corresponds to the current trends of replacing or supplementing the traditional symbolic representation of the processed telemetry data by graphic images. The proposed algorithm is based on the Denavita-Hartenberg method of coordinate transformation. The basic geometric and algebraic calculations required for the implementation of this method in the described application are presented and the design features of the International Space Station manipulators are considered. Without taking them into account the interpretation of graphical telemetry data will not reflect the real state of controlled products.

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