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SERVICEROBOTICS140526

Space Robotics

In principle, any unmanned spacecraft can be called a robotic spacecraft. However, space robots are considered to be more capable device, which are capable of performing manipulation, assembling and servicing functions in orbit, eitherautonomously or as assistants to astronauts, or of exploring remote moons, asteroids and planets in deeper space.

The application field of “Space Robotics” can be classified into the following three domains of space missions: Orbital operation for servicing and construction missions Lunar/planetary exploration missions Human (astronaut) assistance missions.


Space RoboticsTypes of operations carried out by the robotsUnmanned vehicles used in space must be either teleoperatedfrom an extreme distance or move autonomously. As signals take time to be transmitted and, often, not all obstacles can be perceived, the robot can change to “safeguarded teleoperation”, that is, it overrules teleoperatedmode if it considers the commands to be wrong.

Manipulators: spacecraft robot arms are used on outside for repair, maintenance and, and for execution of experiment

Rovers are commonly used for exploration missions on planets or moons.

“Panospheric cameras” allow for an all-round picture of the robot’s surroundings to be sent without constant change of direction, usually inside the spacecraft.


Mars Exploration Rover


Space RoboticsLevel of distributionOn board the Space Shuttles, Shuttle Remote Manipulator Sys (SRMS) or Canadarm hauls payloads from the payload bay of the Space Shuttle to their deployment positions. Likewise, slow-moving objects can be grasped &stowed back into the orbiter.

The robot arm of the past Orbital Express mission (March 9, ‘07) was part of an experiment to autonomously service satellites in orbit. The system consisted of two spacecraft: the Autonomous Space Transport Robotic Operations(ASTRO) vehicle and a prototype next-generation serviceable satellite(NEXTSat). With its arm, ASTRO captured and serviced the satellites.

One of the most spectacular space robots is the Canadian “Dextre” (also known as the Special Purpose Dexterous Manipulator (SPDM), launched on March 11, 2008), which is a two-armed robot or telemanipulator (length around 3.5 m) and which is part of the mobile servicing system on Int’l Space Station (ISS), extending the functionality of this system to replace some activities otherwise requiring spacewalks


Space RoboticsThe tasks of the SPDM on the ISS include installing and removing small payloads, such as batteries, power supplies and computers; operating robotic tools, such as specialized wrenches and socket extensions; providing power and data connectivity to payloads; manipulating, installing, removing and inspecting scientific payloads. In February 2011, Dextre completed its first official assignment which consisted in unpacking two pieces for the Japanese Transfer Vehicle Kounotori 2. The SPDM is controlled by the ISS crew and performs a great many of the tasks that would otherwise require an astronaut to perform a spacewalk.

The European Space Agency (ESA) is also developing a robotic manipulator system, called ERA (European Robotic Arm), for the ISS. The ERA which was developed by a European consortium led by Dutch space, is after the Canadarm-2, the second 'intelligent' robot arm for ISS. In a trial installation, the German Aerospace Agency (DLR) has deployed a reduced robot arm configuration for long-term trials in space. This so-called ROKVISS robot arm, developed at the DLR’s Institute of Robotics and Mechatronics (Germany), was mounted on the International Space Station (ISS) in 2005 and has been reported to be working ever since within various experiments.


Space RoboticsA robotic device contained in space laboratories is the Personal Satellite Assistant (PSA), which is under development at NASA. The PSA is about the size of a softball and has sensors for measuring gases, temperature and air pressure. Furthermore, the PSA is able to perform video conferencing and can communicate with electronic support devices, such as computer servers, avionics systems and wireless LAN bridges.

Mobile robots for exploration have proved indispensable for this task, as well as data collection, as demonstrated by the Mars rovers. NASA’s latest twin robot geologists, the Mars Exploration Rovers Spirit and Opportunity, are helping to determine (among other jobs) the history of water on Mars. They landed on Mars on January 3 and January 24, 2004.85 On January 3 and January 24, 2010, Spirit and Opportunity marked six years on Mars, respectively. Until March 2011, NASA Spirit was used as a stationary research platform after several unsuccessful attempts to free the rover from soft sand. The Phoenix mars lander was a robotic spacecraft on a space explorationmission on Mars under the Mars Scout Program. The Phoenix lander descended on Mars, May 25, 2008, signal transmission has been interrupted on November 10, 2008.

SERVICEROBOTICS140526 ROB1007446

PSA(Personal Satellite Assistant), NASA

PSA floating in ISS

2003 ~ 2004

Volleyball Sized Robot

The goal is to provide astronautswith a robot assistant to help them with their daily tasks, monitor the environment on the space vehicle, and to venture intosituations that might be too dangerous for humans

A key role for the PSA will be its ability to act as a liaison betweenthe crew and ground controllers.


CentaurusROB1301613


Space RoboticsNASA is also developing a humanoid robot to meet increased demands for human safety during extra-vehicular activity (EVA).The Robonaut (a NASA-DARPA project and General Motors for the Robonaut 2) seeks to develop and demonstrate a robotic system that can function as an EVA astronaut equivalent. The Robonaut design is aimed at eliminating the robotic scars (e.g. special robotic grapples and targets) and specialized robotic tools of traditional in-orbit robotics.Recently a proposed mission called Project M was announced by NASA that if approved would land a robonaut on the moon in several years’ time. Robonaut 2 was launched on STS-133 on February 24, 2011, and delivered to the ISS. Robot testing will begin in August 2011.

The follow-up mission with the Curiosity rover is underway as successful landing on Mars took place in August 2012. The rover will assess whether Mars ever was, or is still, an environment able to support microbial life. Curiosity is about twice as long and five times as heavy as the Spirit and Opportunity Mars exploration rovers and carries over ten times the mass of scientific instruments including a full robot arm.


Space RoboticsWithin a study awarded by ESA at the end of 2003, EADS Space(Netherlands) is defining future milestones towards Europe’s exploration of Mars within the so-called Aurora exploration programm. Two parts of the programm focus on the Exo-Mars mission, while the third looks forward to bringing the first samples from Mars back to laboratories on Earth – the Mars Sample Return Mission (MSR).

JAXA(Japan Aerosp. Exploration Agency) announced to launch developmentproject of a "sweeper satellite" that cleans up debris in the outer space, such as wreckages of man-made satellites and rockets remaining in the space. The sweeper satellite should retrieve and destroy debris in the space. The robot arm mounted on the satellite grasps space debris and carries them down into the atmosphere and burns them. JAXA will develop a smaller version of the sweeper satellite in 2020 and subsequently aims at a larger version to practical use. The sweeper satellite is to be launched to an altitude of around 1,000 km to recognize the movement of space debrisby image analysis and capture it. For the development of a larger version tens of billions of yen will be needed.


Space RoboticsWhile the numbers of space robots are still small, their significance in the exploration of planets, moons and asteroids, as well as their applications in servicing, maintenance and assistance in space missions, cannot be overstressed. It is estimated that more than 50 research centres and institutes are involved in the development of space robotics worldwide. Thus, a significant critical mass in robotics R&D, mainly towards developing functionality, securing extreme robustness and dependability of advancedmechatronic systems, is employed by space companies, research centres and space agencies. The tech-transfer into robotic products for terrestrial domains is considered significant (“dual use”).

Quite obviously, in most cases where space robots are used, there may be no alternative at all. Therefore, missions are governed mostly by technical progress, the cost of programmsfor achieving space missions and the availability of resources,such as space carrier systems


Space Robotics

Major producers

The most important industrial developers and suppliers : EADS Space(Netherlands), Hoerner & Sulger (Germany), ISE (Canada), Israel Aerospace Industries (Israel), Jet Propulsion Laboratory (USA), MacDonald Dettwiler Space (Canada).


GM-NASA Robonaut R2


DLR-IRM Space Robotics Project List

2010

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ROTEX 1993ESS 1994EUTEF 1999GETEX 1999ESS-OSS 1999MISSIS 2000AROMA 2002ROGER 2002ROKVISS 2004CSA Control On-goingOLEV On-goingTECSAS/DEOS On-goingEXOMars On-goingSpace Debris -- On-goingGRIP On-going

PROJECT CHRONICLE


A small, six-axis robot was mounted inside a space-lab rack. complex multisensory gripper

ROB1007441G

DLR-IRM Space Robot : ROTEX

Robot Technology Experiment on Spacelab D2-Mission, 1987~1993

Starting shot for Germany’s participation in space robotics

A/V

Preprogramming on ground, Teleoperation on-board, Tele-sensor-programmingCompensate 5-7 s comm. time delay

flew with Spacelab-Mission D2 and performed several tasks


DLR-IRM Space Robot : ESS

CaptureTool

ESS(ExperimentalServicing Satellite) : Lab Demonstrator, 1994

Lab experiment for studyfor dynamic behaviour & rendezvous of free-flying servicing satellite with a robot arm mounted on a chaser.

A/V


DLR-IRM Space Robot : EUTEF

End-effector

EUTEF (EUropean Technology Exposure Facility), 1998~1999

Mounting of pallets on outer ISSwhere a robot arm should work i.e., grasping boxes or exposing them to space radiation.Developed a force-controlled intelligent end-effector inc. local stereo vision

Project stop after prototype status due to design problems with COF and fund cuttings.


DLR-IRM Space Robot : GETEX

German Tech. Experiment on Japanese ETS-VII,April 1999

Verify telerobotic ground control station for remote control of free-floating robot, to perform a peg-in-hole experiment, using VR methods & "vision & force" control scheme.


DLR-IRM Space Robot : ESS-OSS

ESS-OSS De-Orbiting Study, 1999ESS: Experimental Servicing SatelliteOSS: Operational Servicing Satellite

ROSAT satellite to be captured & de-orbitedby robot satellite (left)

Nationally funded study to design a servicing satellite for operations in low earth orbit (LEO).

To rescue the scientific satellite ROSAT(German Röntgen satellite launched in 1991) any thrusters for controlled de-orbiting, which is expected to de-orbit between 2005 and 2008.


DLR-IRM Space Robot : MISSIS

Nationally funded study MISSIS (Mobile Inspection & Service System for ISS Columbus module), 2000

Demonstrate security enhancement of the station while reducing extra-vehicular activities (EVA)

Inspection by walking along outer shell of the Columbus module while making use of existing T-handle rails for fixation.

Similar walkover & inspection concept was developed for a 3-arm system following ESA’s EUROBOT concepts.

MISSISS walking robot

concept

EUROBOTwalking robot

concept


Definition of robot configurations for various purposes in modular design, attached to different Mars rovers - low mass & flexible manipulator- 6-legged micro-rover concept.

ROB1007441G

DLR-IRM Space Robot : AROMA

AROMA(Automation and Robotics for human Mars Exploration), 2000~2002


Capture a non-cooperative target satellite in geostationary orbit and its subsequent de-orbiting into a graveyard orbit. - chaser satellite deploying a tether

(net or robotic gripper to capture target)

ROB1007441G

DLR-IRM Space Robot : ROGER

Feasibility Study on ROGER (RObotic GEostationary Robotic Restorer), ESA2002


DLR-IRM Space Robot : ROKVISS

ROKVISS on ISS

ROKVISS manipulator with experiment contour

ROKVISS(Robotics Component Verification on ISS), 2004During a spacewalk on Jan 26. 2005,ROKVISS experiment hardware was mounted to the outer wall of the Russian Svesda module.Demonstration & verification of light-weight robotics components, under realistic mission conditions in free space

A/V A/V

Telepresence


DLR-IRM Space Robot : CSA Cooporation

Ground control and Dynamic Modeling of ISS-Robot(Canadarm &Canada Hand), on-going

Until now operation for SRMS (Canadarm) & SPDM(Canada Hand) is teleoperated by an astronaut at robotics workstation inside the ISS. It consumes a lot of crew time due to low velocities. As an alternative, operations could be conducted from a ground station. Problem : comm. Time delay &

situational awareness


DLR-IRM Space Robot : OLEV

OLEV(Orbital Life Extension Vehicle) : Spacecraft Life Extension Sys, on-going

Telecom satellites cost $250 million and designed for on-orbit life-time 10-15 yrs. Once propellant load is depleted, satellite is boosted into a disposal orbit. OLEV will significantly prolong operating lifetime of valuable telecom satellites. Capture Tool, Locking mechanism, sensors/control S/W, Telemanipulation, Ground Control

A/V


DLR-IRM Space Robot : TECSAS/DEOS

DEOS (Deutsche Orbital Servicing Mission), on-going

Grasping of a tumbling target satellite

Phase-0 : April 2007Phase-A : Feb 2008 ~ Feb 2009Phase-B : Jan 2010 ~

A/V

Capture andStabilization

Phases


DLR-IRM Space Robot : EXOMars

DLR-IRM develops Wheels for EXOMars, on-going

To land an approximately 200 kgsurface rover on Mars.

To detect organic compounds as well as any biomolecules that may have sustained

A/VMars Rover wheels


DLR-IRM Space Robot :

Space Debris Removal Robot Installation in Low Orbit

GRIP

Additional On-going Projects


DLR-IRM Space Robot : Video Summary

A/V


CURIOSITY Mars Science Lab

www.nasa.gov

servicerobotics140526 space robotics - kocwcontents.kocw.net/kocw/document/2015/chungnam/... ·...

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