SPDM Task Verification Facility: Computer Architecture and Real Time Implementation

摘要

The costs and risks associated with the execution of robotics tasks in space require that all procedures be verified on Earth prior to their execution in space. To meet Canada's responsibility for the verification of all tasks involving SPDM, the Canadian Space Agency is building the SPDM Task Verification Facility (STVF). This facility will be used to verify all aspects of SPDM operations including kinematics, dynamics, human-machine interfaces and resource usage.rnThis paper will concentrate on the computer architecture and real time implementation of the STVF Manipulator Test-bed (SMT), which is the hardware in the loop simulation portion of STVF.