Servicing aid tool

John L. Pullen; William O. Keksz; Thomas J. Manson; David Martin; Russel Werneth

doi:10.1117/12.131697

1 November 1992 Servicing aid tool

John L. Pullen, William O. Keksz, Thomas J. Manson, David Martin, Russel Werneth

Proceedings Volume 1829, Cooperative Intelligent Robotics in Space III; (1992) https://doi.org/10.1117/12.131697
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States

Abstract

The servicing aid tool (SAT) is a teleoperated manipulation system designed for use on the NSTS Orbiter. The system will assist EVA servicing of spacecraft such as the Hubble Space Telescope and Explorer platform. SAT components are spaceflight adaptations of existing ground-based designs from Robotics Research and Schilling Development. Fairchild Space is providing the control electronics, safety system, and flight integration. The manipulator consists of a 6-DOF slave arm mounted on a 1-DOF positioning link in the payload bay. The slave arm is controlled via a highly similar, 6-DOF, force-reflecting master arm. Each slave arm joint receives position commands from the corresponding master arm joint; torque commands are reflected to each master joint based on the current state of the slave joint and the master/slave relationship. Scaled and indexed control will be accommodated, as will various features to ensure safe operation. The paper focuses on the development of the safety system, and operations for the demonstration and servicing missions.

Citation Download Citation

John L. Pullen, William O. Keksz, Thomas J. Manson, David Martin, and Russel Werneth "Servicing aid tool", Proc. SPIE 1829, Cooperative Intelligent Robotics in Space III, (1 November 1992); https://doi.org/10.1117/12.131697

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