Citation
(1998), "International Submarine Engineering (ISE) Ltd delivers second manipulator system to Canadian Space Agency", Industrial Robot, Vol. 25 No. 2. https://doi.org/10.1108/ir.1998.04925bad.002
Publisher
:Emerald Group Publishing Limited
Copyright © 1998, MCB UP Limited
International Submarine Engineering (ISE) Ltd delivers second manipulator system to Canadian Space Agency
International Submarine Engineering (ISE) Ltd delivers second manipulator system to Canadian Space Agency
ISE Ltd has delivered a second manipulator to the Canadian Space Agency. The two seven degree of freedom electric manipulators are part of the STEAR Testbed Manipulator (STM) system. The first manipulator was delivered to the Canadian Space Agency in 1995 and has been used continuously since it was delivered. Applications for the STM System include:
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astronaut training;
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task verification (performing tasks on the ground prior to the tasks being performed in space); and
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developing robot control strategies.
The STM System has two seven degree of freedom manipulators with associated control computers. This architecture is similar to the human arms, which have much greater dexterity than traditional robotic manipulators. Seven degree of freedom manipulators have not typically been used in industry due to the difficulty in controlling them. However, ISE has developed a means to effectively control these types of manipulators. Consequently, ISE foresees more seven degree of freedom manipulators sold for industrial applications over the next few years equipped with ISE controllers.
Cartesian control and impedance control have been implemented on STM. Impedance control gives the manipulator the ability to control the forces applied by the end effector. Variations of STM can be produced for specific applications. The actuators and control software are modular. This allows one to quickly modify the manipulator kinematics and the control strategy.
The STM computer control system is based on a Pentium PC, running Windows NT, and a digital signal processor. The control software, ACE, is also used for industrial automation. Applications include machine control and industrial process control.
The STM System was designed and built by ISE Ltd, a 24-year-old company based in Port Coquitlam, BC, Canada. ISE Ltd and its subsidiary, ISE Research (ISER) Ltd are high technology engineering companies engaged in the development and manufacture of tethered and autonomous undersea vehicles, manipulators, robotics, real-time control systems, and vessel traffic management. Customers for ISE Robotic systems include Westinghouse, Shin Nippon, AT&T, Shell Oil, the US Navy, the Canadian Navy, and the Canadian Space Agency.
For more information contact James R. McFarlane at ISE. Tel: 604 942 5223; Fax: 604 942 7577.