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Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
Robotic and EVA/Robotic Servicing: Past Experiences, Future Promise
David L. AkinSpace Systems Laboratory
University of Maryland,College Park
Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
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
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Robot-aided EVA structural assembly
Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
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
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Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
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?
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Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
Beam Assembly Teleoperator
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Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
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
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Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
Ranger Telerobotic Flight Experiment
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Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
Ranger Neutral Buoyancy Vehicle I
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Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
Ranger Telerobotic Shuttle Experiment
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Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
SSL Robotics/Servicing Timeline (00ʼs)
Modular miniature servicer
development for DARPA
Development of ECU operations timeline
Ranger TSX program cancelled
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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
Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
Ranger Spacecraft Servicing System
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Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
• 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
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Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
Ranger Arms for SUMO Grappling
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Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
Ranger Performing HST AI Changeout
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Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
EVA/Robotic Servicing of HST
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Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
Robotic Augmentation of EVA (from SM1)
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0.125
0.250
0.375
0.500
0.625
0.750
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
3:00
0:00
12:00
15:00
9:00
18:00
6:00
Time (hrs)
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Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
On-Orbit Servicing Demand by Types
Dexterous ServicingSimple Servicing
Inspection
Reboost
Total Servicing Market ~$3-5B/year!
Dex
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Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
Proteus Actuator Technology
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Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
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
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High-Dexterity End EffectorParallel Jaws
Handrail Gripper
Base Node
Mini-Node
Free-Flight Module
Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
A Potential Proteus Configuration
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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
Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
Current Proteus-Based Systems
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SAMURAI Deep-Submergence Manipulator
MGA Exoskeletal System for Shoulder Rehabilitation
Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
Advanced Robot-Integrated Suits
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Robot-Augmented Suit Gloves
Suit-Mounted Manipulators
Robot-Augmented Suit GlovesRobot-Augmented Suit Gloves
Advanced Controls and Displays
Suit-Mounted Manipulators
Morphing Space Suits
Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
UMd Voice Command of GSFC RMS
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Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
NB Simulation of EVA/Robotic Servicing
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Servicing operations from future spacecraft concepts
End-to-end task assessment and mission simulations
Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
Advanced Technologies for Servicing
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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
Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
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
Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
For More Information
http://[email protected]
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Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
Overview of the UMd Space Systems Lab
Dexterous Robotics
Human Systems
Flight Programs Systems Design
Human/RobotInteractionWorld-Class Facilities
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Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
SSL Background in Space Robotics
Orbital Maneuvering Vehicle Operations
Walking Robots
Multiple Cooperating Robots
Formation Flying
Crane-type Positioning Robot
Structural Assembly
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Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
Current Robotics Projects
Complex Satellite Servicing
Autonomous DeepSubmergence Manipulators
Lightweight ModularSelf-Reconfiguring Robots
Advanced Dexterous Robotics
Free-Flying Inspection andLight Transport Robots
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Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
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
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Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
Human/Robot Interaction Projects
Exoskeleton ShoulderRehabilitation RobotEVA/Robot Cooperative Space
Operations
Morphing Space Suit Components
Power-Assisted Space Suit Components
Suit-Integrated Manipulators
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Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
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
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Space Systems LaboratoryU N I V E R S I T Y O FMARYLAND Approved for public release; distribution unlimited
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
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Flight Robotics Simulation Facility