NASA Telerobot Testbed Development And Core Technology Demonstration

摘要

In 1985, the National Aeronautics and Space Administration (NASA) initiated a major program of robotics research and development for technology applications to space servicing, assembly, repair, and remote exploration. A focal point within this program has been the development of a ground-based telerobot testbed at the Jet Propulsion Laboratory in Pasasdena, California. Designed to prove technology concepts for supervised automation of increasingly unstructured and complex tasks, the testbed has reached an initial stage of integration. We have performed and report on several significant testbed experiments which include: visual tracking and grapple of a satellite, dual arm spatial coordination and manipulator control, force-reflecting teleoperations, and simulated task planning for a satellite servicing scenario. We will also outline the current NASA plans for continuing testbed development and demonstration.