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Achievements in space robotics

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3/2/12

3/2/12

Contents:

What is space robotic? Achievements of orbital robotics technology in the last decade Planetary robotics from the field robotics research point of view Technological challenges to asteroid robotics

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What is space robotic ?

The development of general purpose machines that are capable of performing many tasks Generally designed to do multiple tasks, including unanticipated tasks, within a broad sphere of competence. Can perform tasks less expensively or on an accelerated schedule, with less risk and occasionally with improved performance

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Orbital Robotics: scenario

Build a space station using teleoperated or autonomous free-flying robots Retrieve and dock with an existing satellite in orbit and then conduct servicing tasks

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Space Debris

Collisions at orbital velocities can be highly damaging to functional satellites and can also produce even more space debris.

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Collision between a deactivated Kosmos 2251 and an operational Iridium 33 on 10 February 2009

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The orbital planes of Iridium 33 and Cosmos 2251

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Space Debris- measures

Remove the satellites out of orbit at the end of their operational life Rolling out an electrodynamic tether from a spacecraft Robotic reorbit(and not deorbit).

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Engineering Test Satellite


ETS-VII mission conducted by National Space Development Agency of Japan (NASDA) in 1997 1999

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ETS-VII: mission objective

Autonomous rendezvous/docking (RVD) experiments Robot (RBT) experiments

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ETS-VII: RVD experiments

(a) (b)

Orihime Hikoboshi

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ETS-VII: RVD experiments

The global positioning system (GPS) Rendezvous laser radar (RVR) Vision-based proximity sensor (PXS) Onboard autonomy .

=> Both R-bar and V-bar approaching and docking scenarios were conducted successfully

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ETS-VII: RBT experiments


1.

Remote surface observation of the satellite was conducted using video cameras attached at the shoulder and hand of the manipulator arm. Exchange of an orbital replacement unit (ORU) was conducted by using teleoperation from the ground (Tsukuba Space Center, Japan). The ORU has connectors for electric connection and fuel transfer The main satellite is equipped with a task board to test the dexterity of the manipulator arm

2.

3.

4.

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First generation of Tracking and Data Relay Satellite

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ETS-VII: RBT experiments


5.

A model-based assistance system and bilateral force feedback control Practical tasks Dynamic coupling between manipulator reaction and base satellite attitude Demate and mate (berthing) operation of the target satellite Orihime Autonomous chasing and capturing operation of Orihime

6.

7.

8.

9.

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Orbital Express

Developed to validate the technical feasibility of a safe and cost-effective approach to autonomous satellite servicing in orbit Consists of an Autonomous Space Transport Robotic Operations (ASTRO) vehicle , and a prototype modular next-generation serviceable satellite( NextSat).

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Orbital Express: technologies and


scenarios

Similar to those of ETS-VII such as 1), 2), 3), 8), and 9) Their autonomy is more highlighted

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