The International Space Station (ISS) will present a new era of telerobotic operations on-orbit. Operating the Special Purpose Dexterous Manipulator (SPDM) in its tasks of maintaining the multitude of Space Station Orbital Replaceable Units (ORUs) creates numerous operational considerations not seen in the existing Shuttle Remote Manipulator System (SRMS) or the future Space Station Remote Manipulator System (SSRMS). The differences between the large arms and the dexterous arm greatly affect the interconnection of man, robot, and task. This paper presents some of the issues arising from this new breed of on-orbit robotics as garnered from over three years of ORU testing experience within the Robotic Systems Evaluation Laboratory (RSEL) at NASA Johnson Space Center. The effects of new robotic features on operations, the issues surrounding targets and visual cues, the differences in operating with Force Moment Accommodation (FMA), the effects of changes in task complexity and scale, the lack of supporting flight information, and the changes in procedures required by the dexterous task will be discussed.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    ISS Operations for the Special Purpose Dexterous Manipulator (SPDM) Experiences from the Robotic Systems Evaluation Laboratory (RSEL)


    Contributors:

    Publication date :

    1999-01-01


    Type of media :

    Miscellaneous


    Type of material :

    No indication


    Language :

    English




    Special Purpose Dexterous Manipulator (SPDM) Requirements Verification

    Bassett, D. / Abramovici, A. / European Space Agency | British Library Conference Proceedings | 1999



    The Special Purpose Dexterous Manipulator for ISS

    Bassett, Douglas A. | AIAA | 2003


    Dynamics Modelling and Simulation of SPDM Operations Part II: SPDM Handling the IEA Battery

    Ma, O. / Carr, R. / International Federation of Automatic Control | British Library Conference Proceedings | 1999


    A ground testbed for evaluating concepts for the special purpose dexterous manipulator

    Mack, B. / McClure, S. / Ravindran, R. | Tema Archive | 1991