Advanced robotics for in-space vehicle processing

An analysis of spaceborne vehicle processing is described. Generic crew-extravehicular activity tasks are presented for a specific vehicle, the orbital maneuvering vehicle (OMV), with general implications to other on-orbit vehicles. The OMV is examined with respect to both servicing and maintenance. Crew-EVA activities are presented by task and mapped to a common set of generic crew-EVA primitives to identify high-demand areas for robot services. Similarly, a set of robot primitives is presented that can be used to model robot actions for alternative robot reference configurations. The robot primitives are tied to technologies and used for composing robot operations for an automated refueling scenario. Robotics technology issues and design accommodation guidelines (hooks and scars) for Space Station Freedom are described.