Results of the M.I.T. Beam Assembly Teleoperator and Integrated Control Station

To examine the issues of optimum human-machine mixtures for orbital assembly operations, a full six degree-of-freedom teleoperator system for assembly of large space structures has been developed by the Space Systems Laboratory. This consists of a free-flying neutrally buoyant Beam Assembly Teleoperator (BAT) with two manipulators, and a modular Integrated Control Station (ICS). The design and configuration of both the BAT and the ICS are described in some detail in this paper. In addition, qualitative results from early tests of the system are presented. These tests concentrated mostly on free-flying operations and grasping. Future tests will involve complete teleoperated assembly.