Teleoperators and EVA for Shuttle missions

Review of the methods currently being contemplated for enabling the Space Shuttle to perform the Shuttle and payload support missions. Two general approaches to carrying out such activity are discussed - namely, the use of teleoperators and astronaut extravehicular activity (EVA). Detailed descriptions are given of an attached manipulator system (AMS) and a free-flying teleoperator (FFTO), noting the applications, capabilities, and limitations of each. The primary technology development areas for the AMS are in the areas of stabilization, structure, and manual control, while the technology areas of primary concern in the case of the FFTO include the manipulator-grappler system, the control system, the video system, and the mobility system. Four modes of EVA that are possible for the Shuttle are cited, noting the unlikelihood of direct applicability of EVA to payload deployment and retrieval and its feasibility for payload servicing and experiment support.