This paper presents a multiarmed robotic testbed for space servicing applications. Additional developments in the testbed have increased the intelligent capabilities of the overall robotic system. The testbed includes an autonomous diagnosis capability which is required for advanced space servicing tasks. Modifications to the testbed components that facilitate the additional autonomous operations are presented. The NASREM compliant architecture of the testbed is key to the ease of testbed upgrade and experiment definition. Fluent integration of machine intelligence for autonomous operation and teleoperator control is key to the testbed's utility in exploring the design of multiarm cooperative intelligent space robots.
Philip C. Daley,
"Intelligent robotics capabilities of the teleautonomy testbed", Proc. SPIE 1612, Cooperative Intelligent Robotics in Space II, (1 March 1992); doi: 10.1117/12.56773; https://doi.org/10.1117/12.56773