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27 October 1988 Teleoperation And Autonomy In Space Station Robotic Systems
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Proceedings Volume 1006, Space Station Automation IV; (1988)
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States
The United States Space Station will employ robotic systems in conjunction with crew-member Extravehicular Activity (EVA). The control methods and corresponding crew interfaces for these systems are currently in development. Both teleoperation and autonomous operation are being pursued to provide either low-level control or high-level supervision of robotic tasks. The Flight Telerobotic Servicer (FTS) will be launched during the Station assembly process and will be teleoperated to perform a variety of assembly, maintenance, and servicing tasks. The EVA Retriever is a free-flying autonomous robot designed for retrieval of a drifting crewmember or piece of equipment inadvertently detached from the Station. These two robotic systems exemplify the choices which must be made in designing the robot control method. Teleoperation and autonomy are the ends of a spectrum of possible control modes. In choosing a design point along this dimension, the complexity of the robotic task must be considered along with the technologies required to support either teleoperation or autonomous performance of the task. Requirements of the crew operators and the workloads to be imposed on them must be weighed during selection and design of the control method. Safety considerations will also constrain the design. Space Station operations will be enhanced by optimization of each robot's control method with respect to its mission.
© (1988) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Paul D. Campbell "Teleoperation And Autonomy In Space Station Robotic Systems", Proc. SPIE 1006, Space Station Automation IV, (27 October 1988);


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