Telerobotic capabilities for space operations

摘要

This paper presents a summary of tests involving either pure telerobotics or telerobots in conjunction with extravehicular activity applied to some of the servicing tasks of the Hubble Space Telescope (HST). This research was conducted in a neutral buoyancy environment using the high fidelity mockup used for astronaut crew training along with two telerobots developed in the Space Systems Laboratoiy. These tests showed that current telerobots are capable of a limited subset of tasks required for EVA servicing of HST and that specific developments in robotic capability are required particularly in high torque output and positioning in constrained volumes before the telerobotic systems are capable replacements to EVA. A more immediately promising application is the use of telerobots to enhance and extend the EVA capabilities by acting as " assistants" to the EVA crewmen performing the dexterous and high-force tasks.