1、Ob95534 0002084 930 pecial Copvright Notice o 1995 by the American Institute of Aeronautics and Astronautics. All rights reserved. STD-AIAA S-Obb-ENGL 1995 Ob9553Li 0002095 71b AIAA S-066-1995 Standard Vocabulary for Space Automation and Robotics STD-AIAA S-Obb-ENGL 1995 m b95534 0209b b52 AIM S-066
2、- 1 995 Standard Vocabulary for Space Automation and Robotics Sponsor American Institute of Aeronautics and Astronautics Abstract This purpose of this Standard is to aid in promoting mutual understanding of the vocabulary and acronyms used by the space science and engi- neering community in the deve
3、lopment and use of automation and robotic systems. It contains approximately 200 terms which are pre- sented in logical groupings with cross references. Published by American Institute of Aeronautics and Astronautics 370 LEnfant Promenade, SW, Washington, DC Copyright Q 1995 American Institute of Ae
4、ronautics and Astronautics All rights reserved 20024 No part of this publication may be reproduced in any form, in an electronic retrieval system or otherwise, without prior written permission of the publisher. Printed in the United States of America ii STD-AIAA S-Obb-ENGL 1775 Ob7553Y 0002098 425 A
5、IAA S-066-1995 CONTENTS Section Page Foreword . v 1 . 2 . 3 . 4 . 5 . 6 . 7 . 8 . Introduction 1 Robotic Systems and Robot Interfaces . 1 Remote Task Environment 3 Local Control Station . 5 Human Operator Interface . 6 Command and Control Network . 6 Acronyms and Symbols . 8 Index . 8 iii STD.AIAA S
6、-Obb-ENGL 1995 Ob95534 0002099 3bL m Foreword Space Automation and Robotics has been identi- fied as an important area for precursor and human missions that will benefit from guides and stan- dardization. As the field continues to grow, stan- dardization of the terminology associated with this area
7、becomes desirable. This AIAA Standard Vocabulary for Space Au- tomation and Robotics has been prepared under the auspices of the American Institute of Aero- nautics and Astronautics Standards Program. Wherever possible, definitions in this vocabulary conform to those used by the National Aeronau- ti
8、cs and Space Administration (NASA), the Ameri- can Society of Mechanical Engineers (ASME), the Institute of Electrical and Electronics Engi- neers (IEEE), the American Society of Civil Engi- neers (ASCE), and the European Space Agency (ESA). The AIAA Standards Procedures state that all ap- proved St
9、andards, Recommended Practices and Guidelines are advisory only. Hence their usage by anyone in the industrial and technical commu- nity is entirely voluntary. Further, this document represents guidelines which should be reviewed, modified and updated with input from the robotics community, as the t
10、echnology evolves. AIAA S-066-1995 AIAA Space Automation and Robotics Committee on Standards Vocabulary Working Group Gordon K. Lee, Chairman (North Carolina State John Ballantyne (SPAR Aerospace Ltd.) Eric Byler (Lockheed Martin Corporation) Margaret M. Clarke (Rockwell International) Jac B. Kader
11、(USBI) R. Bowen Loftin (University of Houston) John Lowe (Canadian Space Agency) David J. Miller (Sandia Corporation) Samuel Moskowitz (Hebrew University of Raymond Montgomery (NASA Langley Research Rick Nornholm (McDonnell Douglas Aerospace) Richard Quintero (National Institute of Standards Hrishik
12、esh Saha (Alabama A (2) relative to path: the degree of conformance of an attained path to a reference path. acquire - To search for, detect, and discrimi- nate a target using a sensory system. active joint torque - The torque that can be provided by the actuator(s) in a manipulator joint caused by
13、an unbalanced force. actuation force - The force/torque required to operate a mechanical device such as a tool, access door, or fastener. adjust - To change the position, set point con- dition ,or control point of an object or control sig- nal. This action can be done throughout a task. Usually an a
14、djustment is performed to return an object to an in-tolerance condition. (See align.) anthropomorphic - Resembling the human body in form, function, or attributes. automation - (1) The use of machines to effect systematic processes in a pre-defined or mod- AIAA S-066-1995 eled set of circumstances w
15、ithout continuous human intervention; (2) the technology of mak- ing processes perform by their own mecha- nisms, for example, automated tracking is the process whereby a mechanism is actuated by a signal to keep a beam set on a target without the use of human control. commonality - The use of stand
16、ard and com- patible hardware, software, training and proce- dures. controller - (1) A manually operated hardware item used to operate or change the performance of a machine or system; (2) the process of mak- ing a variable or system of variables conform to what is desired; (3) a device (hardware or
17、 soft- ware) to achieve such conformance automati- cally; (4) a device by which a person may com- municate commands to a machine. dexterous manipulation - An action or task that generally mimics anthropomorphic abilities using multiple degrees of freedom with fine con- trol, accuracy, and precision.
18、 dynamics - The time-dependent characteris- tics that describe the motion of a mechanical sys- tem (e.g., a manipulator arm). end effector - Robot peripherals which allow the robot to interact with its environment. envelope - See reach envelope, task en- velope, and work envelope. extend - To move a
19、n end effector (on a ma- nipulator) and/or an object it contains from its cur- rent position in a direction away from the robot systems base. extract - To pull object out of, or to remove from inside of, another object. footprint - The projected surface of a system (used in re-entry to determine cor
20、ridor dimen- sions). force/moment accommodation - A com- mon feature which uses forces and moments, measured at a manipulator tip, to control the ac- tuators of the manipulator such that the con- strained forces and moments do not exceed the preset values. 1 Previous page is blank - STD-AIAA S-Obb-E
21、NGL 1995 = Ob9553Li OOO2101 84T W AIAA S-066-1995 impact acceleration - Pulsed or short-dura- tion accelerations. indexed joint - A manipulator joint controlled independently from the other joints on the same manipulator (characteristic of the Space Shuttle RMS). inverse kinematics - The process of
22、obtain- ing a desired joint configuration from a given set of actuator positions. joint - Point of articulation, with one or more de- grees of freedom, between two manipulator segments. Articulation can be prismatic (linear translation) or revolute (rotation). kinematics - The geometric characterist
23、ics of a manipulator arm; kinematics deals with the ge- ometry and time-dependent aspects of motion, without considering the forces causing this mo- tion. kinematic redundancy - The property of a kinematic design which provides a given position and orientation through more than one possible set of j
24、oint positions. latching end effector - Interface and locking device that provides alignment or mechanical at- tachment, for example, relative to the Space Shuttle RMS, when mated with a Power Data Grapple Fixture (PDGF). locked joint torque - The torque that can be resisted by the brakes in a manip
25、ulators joint. manipulator - (1) One of several categories of robotics, consisting of a series of links con- nected together by joints, with the particular task of moving a particular object; (2) one or more ar- ticulating mechanical segments terminating at an end effector; (3) a machine the mechani
26、sm of which consists of several actuated segments, for the purpose of moving objects (pieces or tools) or making contact with the environment, usually in several degrees of freedom. master/slave - A type of robotic system in which one system (the slave) is designed to re- produce faithfully hand and
27、 arm motions made by another system (the master), usually a human operator. move - To change the position of an end effec- tor and/or an object it contains with a fixed base. (See transport.) reach envelope - (1) The boundary of the volume described by the maximum reach capability of a robotic devic
28、e from a fixed origin (usually the base) on a robotic system. It describes only range, not the dexterity within that range. The reach envelope includes any tools or hardware within the robotic systems grasp; (2) the boundary surface encompassing the reachable workspace. repeatability - The closeness
29、 of agreement between several attained poses for the same command pose, repeated several times. retract - To move a mechanical appendage (e.g., a manipulator or an antenna boom) out of its operational configuration. robot - (1) A machine or device which operates either automatically or by remote hum
30、an control; (2) a re-programmable, multi-functional manipula- tor designed to move materials, parts, tools, or specialized devices through variable pro- grammed motions for the performance of a vari- ety of tasks; (3) a computer or human controlled manipulator consisting of several links con- nected
31、 in series by revolute or prismatic joints. robotic system - Any robotic dexterous ma- nipulator, positioning system, transportation sys- tem, or combination thereof. In the context of teleoperations, the human operator is included as an integral part of the robotic system. robotics - The technology
32、 dealing with robots. rover - A mobile robotic system. Rovers may be used in a variety of situations including sur- face exploration, site preparation, or transportation. sacrificial surfaces - A protective surface placed over a delicate surface to absorb possible environmental damage. safety zone -
33、 A volume outside of the maxi- mum reach envelope of a robotic system (including any attached equipment). specialized work site - A work site that does 2 STD-AIAA S-Obb-ENGL 1995 m Ob9553Li 0002102 7b D not have a direct assembly, maintenance, or servicing function. stabilize - Relative to SPDM, the
34、 action taken by a robotic system to ensure a suitable reaction path for forces or torques generated in the course of performing subsequent actions, e.g., a two-armed dexterous robot working at the end of a large positioning arm will typically “stabilize” itself by using one arm to grip a suitable h
35、old-site so that, when the other arm attempts to extract an ORU, the reaction forces do not in undesir- able motions. standard - The consistent use of a specific approach (e.g., hardware, software, interface, configuration, etc.) to perform a given function. standard end effector (SEE) - Relative to
36、 the Space Shuttle RMS, the Standard End Ef- fector (SEE) is an interface and locking device on the end of the RMS arm that provides align- ment and mechanical attachment (grapple) for the transportation of objects, including a robot, when operating from the Shuttle payload bay. The SEE mates with t
37、he Standard Grapple Fix- ture (SGF) (or the power data grapple fixture without the power and data connection). standard grapple fixture - Relative to the Space Shuttle RMS, the Standard Grapple Fix- ture (SGF) is a support and transportation inter- face on an object that provides alignment and mecha
38、nical attachment when mated with a stan- dard end effector (SEE). standard grasp area - An interface designed to be grasped. It must withstand loads associ- ated with the operational requirements of grasping, transporting, positioning, and manipu- lating moveable objects. ultimate capacity - The pro
39、duct of the limit load multiplied by the ultimate factor of safety. It is the maximum load that the structure and other mechanical components must withstand without rupture or collapse. umbilical - A device of varied length used to transfer electrical power, electronic signals, and fluids from one s
40、ystem to another. work envelope - The boundary of the volume within which a robotic system has sufficient dex- AIAA S-066-1995 terity to accomplish a particular task. It is defined by the kinematics of the device and the require- ments and configuration of the task components that are to be manipula
41、ted. The work envelope is a subset of the reach envelope. wrench - a term incorporating torque and load. wrist - The articulated connection between the end effector and the arm linkage 3. Remote Task Environment active compliance - The property of compli- ance, as provided through force sensing and
42、feedback control of the robot, rather than pas- sive mechanical means. (See center of com- pliance, compliance, passive compli- ance, remote center of compliance.) align - To place an object such that its position and orientation correspond with a reference frame centered on a feature of another obj
43、ect, or to another specified reference frame, without moving the object from its current location (.e., through a combination of rotations of the object). alignment guide - A device used to provide increased position and orientation tolerances when mating two objects. Guide mechanisms can be externa
44、l to the objects or an integral part of the objects configuration. attach - To join one complementary object to another object (or feature), to make a physical connection (e.g., seating a tool on a fastener, or a fastener in a complementary opening); attach implies the presence of complementary shap
45、es at the interface. attachment point - A hard point of an object specifically designed for attachment. berth - To place a vehicle (spacecraft) on a po- sitioning and/or retaining system, .e., one equipped with a fixture for that purpose: normally carried out using a manipulator. berthing point - Se
46、e robotic system berthing location. brightness ratio - The ratio of the luminance 3 AIAA S-066-1995 of two areas or surfaces. capture - Relative to the Space Shuttle RMS, to restrict or confine motion (degrees of free- dom) between object and subsystem; to close the snares on a cable-tension end eff
47、ector. center of compliance - For an object gripped by a compliant robot, the point, refer- enced to a gripper-fixed frame, about which that object tends to rotate when acted on by external forces. The location of this point, relative to the points of contact made during constrained mo- tion, is oft
48、en important since it can determine whether or not the positioning action will suc- ceed. (See active compliance, compli- ance, passive compliance, remote cen- ter of compliance). coarse alignment guide - A device or de- sign geometry (e.g., cones, tapers, chamfers) that provides increased tolerance
49、 on approach between mating objects. The guide forces the two objects into a specific position and orienta- tion relative to one another. compliance - The property of a robotic system that allows it to accommodate (Le., control or limit) external forces arising from contact with other objects in its working environment. For example, because the robot path-following accu- racy is limited by sensing and tolerance uncer- tainties, an attempt to position an object roboti- cally, when one or more degrees of freedom of movement are constrained through contact, would result in high forces
