Multisensor Robotic System For Autonomous Space Maintenance And Repair

摘要

Space applications can be greatly enhanced by the use of robotics and automation in activities such as orbital inspection and maintenance. Partial autonomy of space systems will enhance safety, reliability, productivity, adaptability, and reduction of overall cost. At the core of a robotics system is the ability to acquire, integrate, and interpret multisensory data to generate appropriate actions to perform a given task. In this paper, we show the feasibility of realistic autonomous space manipulation tasks using multisensory information. This is shown through two experiments involving a Fluid Interchange System and a Module Interchange System. In both cases, autonomous location of the mating element, autonomous location of a guiding light target, mating, and demating of the system are performed. Using the vision, force/torque, proxim-ity, and touch sensors, the Fluid Interchange System and the Module Interchange System experiments were accomplished autonomously and successfully.