Robotic assembly of large space structures

Abstract

The Automated Structures Assembly Laboratory (ASAL) has been developed at LaRC for the following purposes: identifying the problems associated with assembling large space structures using robotic manipulators; investigating systems and techniques applicable to such assembly tasks; and developing methodology for an in-space construction facility. The ASAL facility and its robotic manipulator system is described, and a discussion of the initial series of assembly operations are included. The status of the system software development is summarized, and an outline for follow-on testing and expanded capability is given.