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Графическая трехмерная интерпретация телеметрии манипуляторов
Инженерный журнал: наука и инновации
# 2
2016 19
Three-dimensional graphic interpretation
of manipulator telemetry data
© N.V. Kotuzhenko, L.A. Savin
S.P. Korolev Rocket and Space Corporation “Energia”,
Korolev town, 141070, Russia
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 three-
dimensional picture corresponding to the current condition of the real manipulators
and the station. This idea corresponds to the current trends of replacing or supplement-
ing the traditional symbolic representation of the processed telemetry data by graphic
images. The proposed algorithm is based on the Denavita—Hartenberg method of coor-
dinate 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.
Keywords:
International Space Station, manipulators, telemetry data, three-dimensional
visualization.
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Zenkevich S.L., Yushchenko A.S.
Upravlenie robotami. Osnovy upravleniya
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Manipulator Control]. Moscow, BMSTU Publ., 2000, 400 p.
[4]
ISS Robotics Systems Overview. ROBOTIC OV C 21002.
Houston, Texas, NASA
L. B. Johnson Space Center Publ., 2001, 46 p.
Kotuzhenko
N.V.
(b. 1989) graduated from Moscow Aviation Institute (National Re-
search University) in 2012. Engineer of the 1st category, S. P. Korolev Rocket and Space
Corporation “Energia”, member of the Main Control Group (Russian Segment of ISS).
Research interests: electromechanical and robotic systems in manned space systems.
e-mail:
nikita.kotyuzhenko@gmail.comSavin L.A.
(b. 1970) graduated from Bauman Moscow State Technical University in
1994. The Head of Sector, S.P. Korolev Rocket and Space Corporation “Energia”, mem-
ber of the Main Control Group (Russian Segment of ISS). Author of 2 research publica-
tions in the field of space flight control. Research interests: robotic systems in manned
space systems. e-mail:
leonid.savin@sfoc.ru