Space truss assembly using teleoperated manipulators

摘要

Teleoperator experiments were conducted which have demonstrated that a realistic, complex task, typical of those accomplished on-orbit by EVA astronauts, can be done in a smooth, timely manner with manipulators remotely controlled by humans. The real concerns were: (1) do manipulators have sufficient dexterity for these tasks, (2) can sufficient information from the remote site be provided to permit adequate teleoperator control, (3) can reasonable times relative to EVA times be achieved, (4) can the task be completed without frequent and/or damaging impacts among the task components and the manipulators Positive answers were found to all of these concerns. Tasks times, operator fatigue, and smoothness of operation could be improved by designing the task components and the manipulators for greater compatibility. The data recorded supplements a data base of performance metrics for the same task done in the water immersion training facility as well as space flight and provides management with an objective basis for deciding how and where to apply manipulators in space.