A tutorial paper giving an overwiew of a set of new problems in mission operations introduced by having robots in space is presented. The difficulty of planning a history of robot joint angles to place the end effector in a desired position in space, when the satellite on which the robot is mounted moves in response to the robot maneuvers, is addressed. Problems of limiting the disturbances of the robot motion on the attitude of the spacecraft which may contain instruments requiring fine pointing accuracy, and on the microgravity environment of these spacecraft required by some experiments and processes in space, are considered. Problems related to the flexibility of the large lightweight robots used in space are addressed. It is shown that the robot vibrations induced by robot manipulation, will usually tend to tumble the spacecraft after the end of the robot maneuver.
New Problems in Space Flight Operations Introduced by Satellite Mounted Robots
1991
6 pages
Report
No indication
English
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