Robotic and EVA/Robotic Servicing: Past Experiences, Future Promise

Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited

David L. AkinSpace Systems Laboratory

University of Maryland,College Park

SSL Robotics/Servicing Timeline (80ʼs)ʻ80 ʻ81 ʻ82 ʻ83 ʻ84 ʻ85 ʻ86 ʻ87 ʻ88 ʻ89SSL studies applications of automation, robotics, and machine intelligence for servicing Hubble and

other Great Observatoriesfor NASA MSFC

Initial operational tests of Beam

Assembly Teleoperator

Experimental Assembly of Structures in EVA

flies on STS 61-B

BAT used for extensive servicing

tests on HST training mockup

SSL develops ParaShield flight test vehicle for suborbital mission

Robot-aided EVA structural assembly

ARAMIS Telerobotics Study (1980)• Survey of five NASA “Great Observatories” to

assess impacts and benefits of telerobotic servicing - major results:

• Ground-controlled telerobotics is a pivotal technology for future space operations

• Robotic system should be designed to perform EVA-equivalent tasks using EVA interfaces– Maximum market penetration for robot– Maximum operational reliability– Designing to EVA standards well understood

• Fully capable robotic system needs to be able to do rendezvous and proximity operations, grapple, dexterous manipulation

Fundamental Issues in Robotic Servicing

Ground Control?

Capabilities and Limitations?

Multi-arm Control and Operations?

Flexible Connections to Work Site?

Interaction with Non-robot Compatible Interfaces?

Effects and Mitigation of Time Delays?

Control Station Design?

Human Workload Issues?

Utility of InterchangeableEnd Effectors?

ManipulatorDesign?

Hazard Detection and Avoidance?

Development, Production, and Operating Costs?

Ground-based Simulation Technologies?

Beam Assembly Teleoperator

SSL Robotics/Servicing Timeline (90ʼs)ʻ90 ʻ91 ʻ92 ʻ93 ʻ94 ʻ95 ʻ96 ʻ97 ʻ98 ʻ99

SSL designs Ranger

based on experience with HST servicing

NASA selects

Ranger TFX as low-cost

robotic flight experiment

UMd NBRF opens Ranger performs end-to-end HST servicing simulations

Ranger NBV operational

SSL directed to redesign

Ranger for shuttle mission:

Ranger TSX

RTSX PDR

RTSX CDR

Phase 0 PSRP Phase 1

PSRPPhase 2 PSRP

Environmental testing at JSC

Ranger Telerobotic Flight Experiment

Ranger Neutral Buoyancy Vehicle I

Ranger Telerobotic Shuttle Experiment

SSL Robotics/Servicing Timeline (00ʼs)

Modular miniature servicer

development for DARPA

Development of ECU operations timeline

Ranger TSX program cancelled

ʼ00 ʼ01 ʼ02 ʼ03 ʼ04 ʼ05 ʼ06 ʼ07 ʼ08 ʼ09Ranger simulates SPDM for

GSFC HRSDM testing

First tests of EVA/robot cooperation with Ranger

Ranger performs SUMO tasks at NRL

MX-2 suit operational; coop. EVA/robot servicing

Suit-integrated manipulators, advanced displays and controls

SAMURAI lightweight manipulator

Ranger Spacecraft Servicing System

• Approximately EVA-glove-sized end effectors with 30 lbf force and 30 lb-ft torque capability in any direction

• Two human-scale arms with intersecting workspaces mounted on narrow base for restricted work sites

• High-bandwidth active compliance-control loop• 8DOF allows autonomous obstacle and singularity

avoidance• Interchangeable end effector mechanism with two

mechanical tool drives to each end effector• Rad hardened MIL-STD-1553B distributed control

architecture recognizes and safes errors in ≤ 30 msec• 800,000 lines of code for nominal and contingency ops• Flight-certified through NASA Phase 2 PSRP• Operable in 1G, underwater, and space environments• Advanced control station mitigates time delays ≤ 6 sec

Ranger System Specifications

Ranger Arms for SUMO Grappling

Ranger Performing HST AI Changeout

EVA/Robotic Servicing of HST

Robotic Augmentation of EVA (from SM1)

Ranger (pre-EVA) EV1 - with Ranger Ranger (during EVA) EV2 - with RangerRanger (post-EVA)

EVA Daily Average from SM1

EVA Day 1 EVA Day 2 EVA Day 3 EVA Day 4 EVA Day 5

Time (hrs)

On-Orbit Servicing Demand by Types

Dexterous ServicingSimple Servicing

Inspection

Reboost

Total Servicing Market ~$3-5B/year!

Proteus Actuator Technology

A Sample Proteus Toolbox

Roll Actuator

Pitch-Yaw ActuatorForce-Torque Sensor

Pitch Actuator

Pitch-Roll Actuator

Short Link

Medium Link

Long Arm Link

Modules

Stereo Pan-Tilt

Mini-Node

End Effectors Nodes

High-Dexterity End EffectorParallel Jaws

Handrail Gripper

Base Node

Mini-Node

Free-Flight Module

A Potential Proteus Configuration

Dexterous Arms and Interchangeable End Effectors for

Servicing/Assembly

Legs for Local Mobility and

Stabilization Using EVA Hand Rails

Dexterous Arms and Interchangeable End Effectors for

Servicing/Assembly

Free-Flight Module/Stand-Off Video

Monitoring Source

Positioning Arm for Dexterous

Manipulators

Current Proteus-Based Systems

SAMURAI Deep-Submergence Manipulator

MGA Exoskeletal System for Shoulder Rehabilitation

Advanced Robot-Integrated Suits

Robot-Augmented Suit Gloves

Suit-Mounted Manipulators

Robot-Augmented Suit GlovesRobot-Augmented Suit Gloves

Advanced Controls and Displays

Suit-Mounted Manipulators

Morphing Space Suits

UMd Voice Command of GSFC RMS

NB Simulation of EVA/Robotic Servicing

Servicing operations from future spacecraft concepts

End-to-end task assessment and mission simulations

Advanced Technologies for Servicing

Full Haptic Control Station

Advanced Mitigation of Time Delays

Advanced Interchangeable End Effector Mechanisms

Natural Admittance Control

Adaptive Nonlinear Control Algorithms for Manipulator Motion

Full Haptic Control Station

Lightweight Manipulator Actuators and Sensors

The Ultimate Robotic Flight Experiment• At some point, the

Hubble science mission will end

• Lightweight robotic servicer could be added to deorbit mission

• On-orbit robotic HST servicing will leverage decades of experience in EVA servicing and demonstrate robotic capabilities26

For More Information

http://www.ssl.umd.edudakin@ssl.umd.edu

Overview of the UMd Space Systems Lab

Dexterous Robotics

Human Systems

Flight Programs Systems Design

Human/RobotInteractionWorld-Class Facilities

SSL Background in Space Robotics

Orbital Maneuvering Vehicle Operations

Walking Robots

Multiple Cooperating Robots

Formation Flying

Crane-type Positioning Robot

Structural Assembly

Current Robotics Projects

Complex Satellite Servicing

Autonomous DeepSubmergence Manipulators

Lightweight ModularSelf-Reconfiguring Robots

Advanced Dexterous Robotics

Free-Flying Inspection andLight Transport Robots

Current Human Systems Projects

Maryland Advanced Research/Simulation (MARS) Suit MX-2

Ballasted PartialGravity Simulation

In-Suit MetabolicWorkload

Measurement

Advanced Space Suit Gloves

Biomechanics Instrumentation

Advanced Life Support Systems

Human/Robot Interaction Projects

Exoskeleton ShoulderRehabilitation RobotEVA/Robot Cooperative Space

Operations

Morphing Space Suit Components

Power-Assisted Space Suit Components

Suit-Integrated Manipulators

Space Systems Design Activities

Advanced Human/Robot Systems

Full-Scale Mockups for Human Testing Lunar and Mars Rovers Planetary Surface Habitats

Robotic HST Servicing

Transportation and Landing Systems

Orbital Habitats

Space Systems Lab Facilities

Advanced Robotics Development Lab Inspection and Secure Storage Lab

Flight Electronics Fab & Test Lab

Planetary Surface Mobility Simulator

Neutral Buoyancy Research Facility

Space Suit Development Lab

Flight Robotics Simulation Facility

Robotic and EVA/Robotic Servicing: Past Experiences, Future Promise

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