Telerobotic Operations Testing in Neutral Buoyancy Simulation

Although a great deal of research is currently underway to develop advanced technologies for space telerobots, less attention has traditionally been paid to understanding the potential roles of robotics in future space endeavors. For the past decade, the Space Systems Laboratory has focused on the development of integrated telerobot systems, and evaluated them for their impact in space operations. This paper starts with a review of space simulation options for ground-based research, and summarizes the decision path that led to the extensive use of neutral buoyancy simulation by the SSL. It then presents an overview of the current and near-term operational telerobotic systems of the SSL, which includes one vehicle designed for the assembly of space structures, four free-flying mobility devices, a modular positioning manipulator, and an advanced satellite servicing system with 32 major degrees of freedom. Experimental results from each of these vehicles are summarized, both as independent systems and in cooperative tests with each other and with humans in extravehicular operations. Finally, future plans for the laboratory will be discussed, including the preparation of a telerobotic space flight experiment to correlate the neutral buoyancy test results. Background