Simulating the Replacement of Spacecraft Modules by Means of a Telerobot

Abstract

An experiment was conducted to simulate executing a proposed on-orbit Space Station maintenance task by means of a telerobotic system. A battery Orbital Replacement Unit (ORU) changeout task was simulated in the laboratory. This task was performed by 5 experienced robot operators using full-scale mockups of the ORU battery module and its interfaces. The space telerobot was emulated by a pair of Kraft robot arms mounted on a Cimcorp gantry robot.

The results of the experiment demonstrated that the preliminary flight procedures defining the ORU changeout task worked well. The results also showed that the basic hardware design for the battery ORU could be manipulated by the telerobot. The effects of operator training were significant. Average task completion times improved almost 40 percent over 8 trials. The effects of training were not as pronounced on measures of performance quality, either in terms of errors made or forces and torques exerted on the ORU. Certain operator interface improvements were suggested.

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