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Graphical programming: A systems approach for telerobotic servicing of space assetsSatellite servicing is in many ways analogous to subsea robotic servicing in the late 1970's. A cost effective, reliable, telerobotic capability had to be demonstrated before the oil companies invested money in deep water robot serviceable production facilities. In the same sense, aeronautic engineers will not design satellites for telerobotic servicing until such a quantifiable capability has been demonstrated. New space servicing systems will be markedly different than existing space robot systems. Past space manipulator systems, including the Space Shuttle's robot arm, have used master/slave technologies with poor fidelity, slow operating speeds and most importantly, in-orbit human operators. In contrast, new systems will be capable of precision operations, conducted at higher rates of speed, and be commanded via ground-control communication links. Challenge presented by this environment include achieving a mandated level of robustness and dependability, radiation hardening, minimum weight and power consumption, and a system which accommodates the inherent communication delay between the ground station and the satellite. There is also a need for a user interface which is easy to use, ensures collision free motions, and is capable of adjusting to an unknown workcell (for repair operations the condition of the satellite may not be known in advance). This paper describes the novel technologies required to deliver such a capability.
Document ID
Document Type
Conference Paper
Pinkerton, James T.
(New Mexico Univ. Albuquerque, NM, United States)
Mcdonald, Michael J.
(New Mexico Univ. Albuquerque, NM, United States)
Palmquist, Robert D.
(New Mexico Univ. Albuquerque, NM, United States)
Patten, Richard
(New Mexico Univ. Albuquerque, NM, United States)
Date Acquired
September 6, 2013
Publication Date
January 1, 1994
Publication Information
Publication: NASA. Johnson Space Center, Seventh Annual Workshop on Space Operations Applications and Research (SOAR 1993), Volume 2
Subject Category
Mechanical Engineering
Accession Number
Funding Number(s)
Distribution Limits
Work of the US Gov. Public Use Permitted.
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