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Space Robots and Systems

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Springer Handbook of Robotics

Abstract

In the space community, any unmanned spacecraft can be called a robotic spacecraft. However, space robots are considered to be more capable devices that can facilitate manipulation, assembling, or servicing functions in orbit as assistants to astronauts, or to extend the areas and abilities of exploration on remote planets as surrogates for human explorers.

In this chapter, a concise digest of the historical overview and technical advances of two distinct types of space robotic systems, orbital robots and surface robots, is provided. In particular, Sect. 45.1 describes orbital robots, and Sect. 45.2 describes surface robots. In Sect. 45.3, the mathematical modeling of the dynamics and control using reference equations are discussed. Finally, advanced topics for future space exploration missions are addressed in Sect. 45.4.

Key issues in space robots and systems are characterized as follows. Manipulation – Although manipulation is a basic technology in robotics, microgravity in the orbital environment requires special attention to the motion dynamics of manipulator arms and objects being handled. Reaction dynamics that affect the base body, impact dynamics when the robotic hand contacts an object to be handled, and vibration dynamics due to structural flexibility are included in this issue. Mobility – The ability to locomote is particularly important in exploration robots (rovers) that travel on the surface of a remote planet. These surfaces are natural and rough, and thus challenging to traverse. Sensing and perception, traction mechanics, and vehicle dynamics, control, and navigation are all mobile robotics technologies that must be demonstrated in a natural untouched environment. Teleoperation and autonomy – There is a significant time delay between a robotic system at a work site and a human operator in an operation room on the Earth. In earlier orbital robotics demonstrations, the latency was typically 5 s, but can be several tens of minutes, or even hours for planetary missions. Telerobotics technology is therefore an indispensable ingredient in space robotics, and the introduction of autonomy is a reasonable consequence. Extreme environments – In addition to the microgravity environment that affects the manipulator dynamics or the natural and rough terrain that affects surface mobility, there are a number of issues related to extreme space environments that are challenging and must be solved in order to enable practical engineering applications. Such issues include extremely high or low temperatures, high vacuum or high pressure, corrosive atmospheres, ionizing radiation, and very fine dust.

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Abbreviations

ARAMIS:

Space Application of Automation, Robotics and Machine Intelligence

ASTRO:

autonomous space transport robotic operations

CARD:

computer-aided remote driving

DARPA:

Defense Advanced Research Projects Agency

DLR:

Deutsches Zentrum für Luft- und Raumfahrt

DOF:

degree of freedom

ECU:

electronics controller unit

ERA:

European robotic arm

ESA:

European Space Agency

ETS:

engineering test satellite

EVA:

extravehicular activity

GEO:

geostationary Earth orbit

GJM:

generalized Jacobian matrix

HST:

Hubble space telescope

ISS:

input-to-state stability

JAXA:

Japan space exploration agency

JEMRMS:

Japanese experiment module remote manipulator system

JPL:

Jet Propulsion Laboratory

LAAS:

Laboratoire dʼAnalyse et dʼArchitecture des Systèmes

MBS:

mobile base system

MER:

Mars exploration rovers

MESUR:

Mars environmental survey

MPM:

manipulator positioning mechanism

MRL:

manipulator retention latch

MRSR:

Mars rover sample return

NASA:

National Aeronautics and Space Agency

NASDA:

National Space Development Agency of Japan

OBSS:

orbiter boom sensor system

ORU:

orbital replacement unit

PDGF:

power data grapple fixtures

RC:

radio-controlled

RNS:

reaction null space

ROKVISS:

robotic components verification on the ISS

ROTEX:

robot technology experiment

RWS:

robotic work station

SAIC:

Science Applications International, Inc.

SAN:

semiautonomous navigation

SEE:

standard end-effector

SLRV:

surveyor lunar rover vehicle

SPDM:

special-purpose dexterous manipulator

SRMS:

shuttle remote manipulator system

STS:

superior temporal sulcus

SVD:

singular value decomposition

US:

ultrasound

VM:

virtual manipulator

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Authors and Affiliations

  1. Department of Aerospace Engineering, Tohoku University, 6-6-01 Aoba-yama, 980-8579, Sendai, Japan

    Kazuya Yoshida Prof

  2. Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, 91109, Pasadena, CA, USA

    Brian Wilcox

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  1. Kazuya Yoshida Prof
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  1. PRISMA Lab, Dipartimento di Informatica e Sistemistica, Universitá degli Studi di Napoli Federico II, 80125, Napoli, Italy, Via Claudio 21

    Bruno Siciliano Prof.

  2. Artificial Intelligence Laboratory, Department of Computer Science, Stanford University, 94305-9010, Stanford, CA, USA

    Oussama Khatib Prof.

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Yoshida, K., Wilcox, B. (2008). Space Robots and Systems. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-30301-5_46

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  • DOI: https://doi.org/10.1007/978-3-540-30301-5_46

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-23957-4

  • Online ISBN: 978-3-540-30301-5

  • eBook Packages: EngineeringEngineering (R0)

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