Space telerobotics technology demonstration program

Abstract

The 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.