Assembly Experiment of Microsatellite by Space Maintenance Robot

Abstract

This paper presents an on-going program for research and development of a maintenance space robot. The proposed concept of the in-orbit maintenance system provides robustness of the infrastructure while preserving the space environment. The system consists of microsatellites and maintenance space robots. Each microsatellite is modularized and consists of a satellite body including replacement units, a solar paddle and an antenna. The space robot vehicle has a dual-arm manipulator, a positioning table and spare modules of the microsatellite. We have developed a test-bed consisting of a maintenance robot arm and a modularized microsatellite. The assembly task for the microsatellite was demonstrated successfully on the test-bed using the look-and-move control and force control function of the robot.