Graphical Programming: A systems approach for telerobotic servicing of space assets

Conference · Sun Aug 01 00:00:00 EDT 1993

OSTI ID:10190586

Pinkerton, J T ^[1]; McDonald, M J; Palmquist, R D ^[2]; Patten, R ^[3]

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1. New Mexico Univ., Albuquerque, NM (United States). Dept. of Computer Science
2. Sandia National Labs., Albuquerque, NM (United States)
3. Oceaneering Space Systems, Webster, TX (United States)

Satellite 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. Challenges 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.

• Research Organization: Sandia National Labs., Albuquerque, NM (United States)
• Sponsoring Organization: USDOE, Washington, DC (United States)
• DOE Contract Number: AC04-76DP00789
• OSTI ID: 10190586
• Report Number(s): SAND-93-1835C; CONF-9308159-1; ON: DE93019016; TRN: 93:025391
• Resource Relation: Conference: SOAR 93: space operations, applications, and research conference,Houston, TX (United States),3-5 Aug 1993; Other Information: PBD: [1993]
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
SATELLITES
TELEMETRY
ROBOTS
REMOTE CONTROL
COMPUTERIZED CONTROL SYSTEMS
DESIGN
MANIPULATORS
COMPUTERIZED SIMULATION
PROGRAMMING
THREE-DIMENSIONAL CALCULATIONS
REAL TIME SYSTEMS
420200
990200
FACILITIES, EQUIPMENT, AND TECHNIQUES
MATHEMATICS AND COMPUTERS