Space Robotics

Abstract

This report surveys the possible applications and technical feasibility of robots in space. The hture of the space program in the time frame of 1980-2000 is first assessed, including space exploration, globzl infomiation services, and space utilization. Critical technologies needed to wpport die projected space program are considered, including general purpose, remote intelligence and manipulation. Teleoperators are discussed as a possible means of meeting lhis requirement and are found to be unsatisfactory due to communication time delays and bandwidth limitations, and human cost and performance limits. Autonomous space robots are proposed as a solution, and several detailed sceiiarios for their use are presented. The technical feasibility of space robotics is evaluated by examining the requirements, state-of-the-art, and research needed for each of the subsystems of a space robot. These subsystems include manipulators, sensors, navigation, guidance, propulsion, surface loconiotion, computing and control, communications, electrical power, and spacecraft structure. Finally, a research program is outlined for the development of autonomous space robots.