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Implementation of distributed processing for the beam assembly teleoperator

In January 1989, cooperative testing between an EVA subject and a teleoperator was conducted at NASA Marshall's Neutral Buoyancy Simulator. The testing revealed many of the limitations of the Beam Assembly Teleoperator (BAT). Most of the limitations identified could be attributed to either the teleoperated system's computer architecture, the teleoperator/control station communication structure, or the teleoperator's lack of sensors. As a result of this testing, design requirements for an enhanced teleoperated system were developed. To satisfy the requirements, a new computer architecture using distributed processing was designed and installed in BAT. A force/torque sensor, to measure forces and torques exerted on the tip of BAT's dexterous arm, was also designed and built. Due to lack of time, integration of the entire system was not finished. However, preliminary testing was performed to demonstrate the functionality of the partially completed system, and to demonstrate the enhanced arm control capabilities of the new system. This thesis discusses the design of the new computer system and of the force/torque sensor. Preliminary test results are discussed and suggestions of future work are included.