Supervised robotics for space servicing

Abstract

Supervised robotics is the key to success for in-space servicing or other remote servicing operations. Advanced techniques include human-assisted vision processing, automatic calibration and retargeting, and advanced force compliant control macros. A combination of these techniques was developed and assembled in a laboratory experiment, demonstrating the flexible, robust and on-line interactive replacement of an orbit replaceable unit.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>