Robots in space - a survey

Abstract

The paper tries to outline the state of the art in space robotics. It discusses the technologies used in ROTEX, the first remotely controlled space robot which flew with the shuttle Columbia in April 1993, but it also gives a review of the major space robot projects envisioned by different nations for the next decade. The mechatronics and dynamics aspects of space robots including free-flying systems are briefly discussed. Broader attention is given to the telerobotic and teleoperational control loop structures, including predictive delay-compensating graphics simulation. The paper finally tries to emphasize that by task-level programming (involving 'learning by showing' on a high level) future space robots will be powerful tools for scientists and ground operators which are not robot specialists. The tele-sensor programming concept of ROTEX was a first step in this direction. We plead for flying a variety of space robot systems in the near future in order to enhance experience with and confidence in these technologies as quickly as possible.