Ranger Telerobotics Program. Brian Roberts University of Maryland Space Systems Laboratory http://www.ssl.umd.edu/. On-Orbit Servicing Workshop 14 November 2001. Space Systems Laboratory. 25 years of experience in space systems research
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University of Maryland
Space Systems Laboratory
On-Orbit Servicing Workshop
14 November 2001
Flexible Connections to Work Site?
Capabilities and Limitations?
Human Workload Issues?
Multi-arm Control and Operations?
Control Station Design?
Interaction with Non-robot Compatible Interfaces?
Hazard Detection and Avoidance?
Utility of InterchangeableEnd Effectors?
Development, Production, and Operating Costs?
Ground-based Simulation Technologies?
Effects and Mitigation of Time Delays?
How the Operator Interacts with the Robot
How the Robot Interacts with the Worksite
~1500 lbs weight; 14 length from base on SLP to outstretched arm tip
Microconical End Effector
Bare Bolt Drive
Right Angle Drive
Tether Loop Gripper
EVA Handrail Gripper
Video Displays (3)
Keyboard, Monitor, Graphics Display
2x3 DOF Hand Controllers
CPU (Silicon Graphics O2)
Pre/Post Flight with
Buoyancy Vehicle for
BAT Dexterous Arm (5 DOF)
BAT Tilt & Pan Unit (2 DOF)
BAT Grapple Arm (0 DOF)
Ranger Dexterous Arm Mark 1 (7 DOF)
Ranger Grapple Arm (7 DOF)
Ranger Dexterous Arm Mark 2 (8 DOF)
Ranger Video Arm (7 DOF)
Ranger Positioning Leg (6 DOF)
Demonstration of DexterousRobotic Capabilities
Understanding of Human Factorsof Complex Telerobot Control
Pathfinder for FlightTesting of Advanced Robotics
Precursor for Low-CostFree-Flying Servicing Vehicles
Lead-in to CooperativeEVA/Robotic Work Sites
Dexterous Robotics forAdvanced Space Science