Testbed for tele-autonomous operation of multiarmed robotic servicers in space

摘要

A multiarm robotic testbed for space servicing applications is presented. The system provides the flexibility for autonomous control with operator interaction at different levels of abstraction. Key Technologies from the areas of artificial intelligence, robotic control, computer vision, and human factors have been integrated in an architecture which has proven useful for resolving issues related to space-based servicing tasks. A system-level breakdown of testbed components is presented, outlining the function and role of each technology area. A key feature of the architecture is that it facilitates efficient transfer of teleoperation control to all levels in the system hierarchy, enabling the study of the relationship between the human operator and the remote system. This includes the ability to perform autonomous situation assessment so that operator control activities at lower levels can be interpreted in terms of system model updates at higher levels.