Space telerobotics technology demonstration programThe paper reports the ongoing development of a telerobot demonstrator. The demonstrator is implemented as a laboratory-based research testbed, and will show proof-of-concept for supervised automation of space assembly, servicing, and repair operations. The demonstrator system features a hierarchically layered intelligent control architecture which enables automated planning and run-time sequencing of complex tasks by a supervisory human operator. The demonstrator also provides a full bilateral force-reflecting hand control teleroperations capability. The operator may switch smoothly between the automated and teleroperated tasking modes in run-time, either on a preplanned or operator-designated basis.
Document ID
19880029773
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Szirmay, S. Z. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Schenker, P. S. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Rodriguez, G. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
French, R. L. (California Institute of Technology Jet Propulsion Laboratory, Pasadena, United States)