Automation and robotics technologies for the Mobile Servicing System

摘要

The Mobile Servicing System (MSS) being developed by Canada for the International Space Station program will be used to helr, assemble. smke and maintain the station and its The MSS features a large manipulator, an advancement from the Soace Shuttle's Remote Manbulator system, and a NIW bextrous manipulator systeril. TIW lormec, the Space Station Remote Manipulator System (SSRMS)is a 57 feet bng, seven degree of freedom, on-orbit serviceable robotic system capable of handling massive paybads like the ShuW Orbiter. The latter, the Special Purpose Dextrous Manipulator (SPDM), features two 6.5 feet bng seven degree of freedom a m , a folding body and base and will be used to perform dextrous Extra Vehicular Robotic assembly, servicing and maintenance tasks of station elements and attached payloads. This peper highlights the Figure 1 MSS ~onfiguiation robotic features of both these systems and provides an outline of some advanced automation and robotic (A&R) technologies being develowd in Canada for incornration In the systh. workon advanced vislon, force &modation, collisbn rxedktion and avoidance. robotic lenauaaes and expect sy&8m9 is presented. A rob& ground &t&, to be used for developing these technologies, Is described.