BORIS: A Simulator for Generic Robotic Training

摘要

The building and the maintenance of the International Space Station (ISS) require the usage of complex robot systems like the Mobile Servicing System (MSS). In general the new astronauts are not familiar with robot operations and require robotics training courses. For these reasons, the space agencies involved in the Space Station have been mandated to provide a Generic Robotic Training (GRT) course. The main objectives of this course are to develop situational awareness (environment knowledge and safety issues), provide kinematics and dynamics understandings of robotic systems, increase the dexterity of the operator and finally to provide basic knowledge of robotic systems. This paper presents a simulator developed at CSA to support GRT. Robot dynamics model, distributed operator graphical pages and virtual reality technologies are used to meet the GRT requirements.