Robotic capabilities for complex space operations

摘要

This paper reviews the many potential applications of robotics technology to current and future space operations, with particular emphasis on the experience base of the University of Maryland Space Systems Laboratory. A pedagogy is presented wherein space operations are broken down into the following areas: docking, assembly, inspection, maintenance, assistant, and training. A brief description of each area shows requirements for specific robotic capabilities to accomplish or improve the current performance of these tasks. Specific examples are presented based on relevant Space Systems Laboratory experience in each area, drawn from two decades of research with seven major integrated robotic test beds, along with extensive experience in human-robotic