Robotic Sensors and Actuators for a Service Manipulator System. Volume 1: Executive Summary

摘要

The state of the art of robotics, telemanipulation, and servicing was reviewed in order to develop a service manipulator system (SMS) for in-orbit servicing. An SMS concept is described. Development activities and test requirements in vision systems, control techniques, end effector grapple mechanisms, force/torque sensors, and hinge joints are outlined. A development plan is presented.