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Robotic servicing on Earth orbiting satellitesAn articulated calibration experiment (ACE) concept study was conducted by GSFC to prove the feasibility of instrument calibration by a resident robot on the EOS spacecraft. This study provided a basis for determining the most suitable robot design and operations concepts required to perform accurate instrument calibration on the EOS platform. During the study, the first-order dynamics of robot walking and docking motions as it moves about were evaluated to determine the accelerations and torques imparted into the spacecraft. The major perturbation to the spacecraft was the effect of robot motion and impact on the EOS platform attitude control system. If not carefully controlled, these levels could exceed the maximum allowable levels. As a result of the EOS/ACE feasibility study, a GSFC robotic ground development effort was established. This effort, as described on the paper, will identify the technology required to resolve issues associated with robot in-space servicing dynamics and its impact on spacecraft and designs. Of primary concern are those relating to robot contact loads, docking of robotic systems on space platforms, and basic motion and mobility.
Document ID
Document Type
Conference Paper
Ollendorf, Stanford (NASA Goddard Space Flight Center Greenbelt, MD, United States)
Date Acquired
September 6, 2013
Publication Date
February 1, 1993
Publication Information
Publication: NASA. Johnson Space Center, Sixth Annual Workshop on Space Operations Applications and Research (SOAR 1992), Volume 2
Subject Category
Distribution Limits
Work of the US Gov. Public Use Permitted.

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IDRelationTitle19940007055Analytic PrimarySixth Annual Workshop on Space Operations Applications and Research (SOAR 1992), volume 2