SPST470 - Intro to Space Mission Design: Space Robotics

Craig R. Carignan - Lead Manipulator Controls Gardell G. Gefke - Ranger Program Manager Brian J. Roberts - Ranger NBVII Integration Lead University of Maryland, College Park Department of Aerospace Engineering Space Systems Laboratory
http://www.ssl.umd.edu

26-MAR-2002

SpaceRobotics.UND-SPST-470

Space Systems Laboratory University of Maryland

Seminar Outline
A Brief History of Space Robotics On-Orbit Servicing Assets at the SSL Evolution of the Ranger Program Ranger Telerobotic Shuttle Experiment Manipulator Arm Development and Compliant Control Testing Ranger NBV Operations at SSL NBRF and NASA/MSFC NBS Ranger NBVII Dexterous Arm Integration and Testing

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Space Systems Laboratory University of Maryland

What are the Unknowns in Space Robotics?

Human Workload Issues? Flexible Connections to Work Site? Multi-arm Control and Operations? Capabilities and Limitations?

Control Station Design?

Manipulator Design?

Interaction with Nonrobot Compatible Interfaces?

Utility of Interchangeable End Effectors?

Hazard Detection and Avoidance?

Ground-based Simulation Technologies?

Development, Production, and Operating Costs?

Ground Control?

Effects and Mitigation of Time Delays?

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Space Systems Laboratory University of Maryland

History of Space Robotics

Mission Year Agency CSA/SPAR ESA/DLR NASA/MDAC NASDA/Toshiba Vehicle Location STS-2+ STS-55 STS-63 STS-85 SS cargo SpaceLab2 SpaceHab3 SS cargo
Manipulator Flight Demonstration (MFD)

Canadarm 1982 ROTEX Charlotte MFD 1993 1995 1997

Robot Teleoperation Experiment (ROTEX) Charlotte IntraVehicular Robot (IVA)

CanadArm or Space Shuttle Remote Manipulator System (SSRMS)

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Space Systems Laboratory University of Maryland

Mobile Space Robots

Mission ETS-VII MSS Year 1997 Agency NASDA/Toshiba Vehicle H-1 Location LEO

2001+ CSA/MDRobotics STS-100+ ISS NASA/UM NASA/JSC STS-??? SS cargo bay

RangerTSX 200X Robonaut

Experimental Test Satellite #7 (ETS-VII)

200X

STS-?,ISS EVA
Ranger Telerobotic Shuttle Experiment (RTSX)

Mobile Servicing System (MSS)

Robonaut

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SpaceRobotics.UND-SPST-470

Space Systems Laboratory University of Maryland

Ranger-Class Space Robots

How the Operator Interacts with the Robot Locally Teleoperated How the Robot Interacts with the Worksite Specialized Robotic Interfaces EVA Compatible Interfaces Human Compatible Interfaces Robonaut SSRMS MFD MSS/SPDM Remote (Ground) Teleoperated Charlotte IVA Supervisory/ Autonomous Control ROTEX ETS-VII

Ranger TSX

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SpaceRobotics.UND-SPST-470

Space Systems Laboratory University of Maryland

On-Orbit Servicing at SSL

Development and testing of multiple complete robotic systems capable of performing complex space tasks end-to-end:
Docking Assembly Inspection Maintenance

Facility for evaluating systems in a simulated 6 degree-offreedom (DOF) microgravity environment Expertise:
Autonomous control of multiple robotic systems Design of dexterous robotic manipulators Adaptive control techniques for vehicle dynamics Use of interchangeable end effectors Investigation of satellite missions benefiting most from robotic servicing
SpaceRobotics.UND-SPST-470

26-MAR-2002

Space Systems Laboratory University of Maryland

Why Neutral Buoyancy?

EVA/EVR Correlation

Simulation Correlation

All AllOn-Orbit On-Orbit Operations OperationsPerformed Performed Pre/Post Flight Pre/Post Flightwith with RTSX Neutral RTSX Neutral Buoyancy BuoyancyVehicle Vehiclefor for Flight/NB Flight/NBSimulation Simulation Correlation Correlation
EVA/EVR Correlation

Simulation Correlation

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SpaceRobotics.UND-SPST-470

Space Systems Laboratory University of Maryland

Beam Assembly Teleoperator (BAT)

Free-flying robotic system to demonstrate assembly of an existing space structure not robot friendly:
6 DOF mobility base 5 DOF dexterous assembly manipulator Two pairs of stereo monochrome video cameras Non-articulated grappling arm for grasping the structure under assembly Specialized manipulator for performing the coarse alignment task for the long struts of the truss assembly

Operational from 1984 to 1995 Achievements:

Combination of simple 1 DOF arm with dexterous 5 DOF manipulator proved to be a useful approach for assembly of a tetrahedral structure Demonstrated utility of small dexterous manipulator to augment larger, less dexterous manipulator Assisted in the simulated change out of spacecraft batteries of Hubble Space Telescope
26-MAR-2002 SpaceRobotics.UND-SPST-470

Space Systems Laboratory University of Maryland

Ranger Neutral Buoyancy Vehicle (RNBV)

Ranger Neutral Buoyancy Vehicle (NBV) operational since 1994 Incorporated improvements over BAT (2x7dof arms, narrower shoulder, etc.) Robotic prototype testbed for satellite inspection, maintenance, refueling, and orbit adjustment Demonstrated robotic tasks include ORU replacement, electrical connection, dual-arm operation, and free-flight
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Space Systems Laboratory University of Maryland

Ranger Telerobotic Flight Experiment (RTFX)

Project funded by NASAs Code S and started in 1992 Goal was to demonstrate telerobotic satellite servicing in Earth orbit >1000 mile orbit required for LOS communication High orbit and weight required a Delta-class ELV Redirected as a Space Shuttle launch payload in October, 1996

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Space Systems Laboratory University of Maryland

Ranger/Remote Manipulator System (RRMS)

Ranger TFX at end of RMS $2M to run power/data umbilical down RMS Two-arm contact required at all times to react loads Ranger failure could mean jettisoning the RMS Concerns with stiffness and modal excitation of RMS Two pilots minimum required to operate Ranger and RMS Complex interface effects on training, safety, and ops
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Space Systems Laboratory University of Maryland

Ranger Telerobotic Shuttle Experiment (TSX)

Robot attached to a Spacelab pallet within the cargo bay of the orbiter Controlled from orbiter and from the ground SS payload eliminated need for spacecraft bus (power and communication from orbiter) More benevolent thermal environment in cargo bay than as unattached payload Robot not expended at end of mission; EVA recovery option
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Space Systems Laboratory University of Maryland

Ranger Flight Experiment Concept Overview

On-Orbit Control: - Crew Operated from Middeck Locker - SGI-based Control Station with 3 DOF Hand controllers - AFD Switch Panel for Latches

Payload Bay Elements: - Spacelab Pallet Carrier - Ranger Robot - Task Elements - Power Distribution Equipment

Ground Control: - Located in JSC PCC - UMD Control Station - Video Monitoring - Mission Monitoring

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Space Systems Laboratory University of Maryland

Mission Overview
Fundamental mission requirements are for on-orbit and ground operation of task elements
On-orbit control from Flight Control Station (FCS) in middeck Ground control from Ground Control Station (GCS) in PCC
Command and telemetry link (KU-2 & KU-3) via TDRS and Orbiter comm

Inflight operations segmented into a series of 12 (TBD) test sessions of approximately 4 hours duration per session
Multiple operations of various task elements On-orbit and ground control One crewmember required during all operations periods

Task elements include ORUs (ISSA and HST), EVA support equipment, and taskboard items
Task complexity ranges from very simple to very difficult

Orbit insensitive benign thermal environment preferred No planned EVA/RMS operations

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Space Systems Laboratory University of Maryland

Robots Characteristics
Body
Internal: main computers and power distribution External: end effector storage and anchor for launch restraints Head: 12 cube

Four manipulators
Two dexterous manipulators
5.5 diameter, 48 long 8 degrees of freedom 30 lb of force and 30 ft-lbf of torque at end point

Video manipulator

5.5 diameter, 55 long 7 degrees of freedom Stereo video camera at end 9.5 diameter, 75 long 6 degrees of freedom 25 lb of force and 200 ft-lbf ~1500 lbs weight; 14 length from base on SLP of torque; can withstand to outstretched arm tip 250 lbf at full extension with brakes engaged

Positioning leg

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Space Systems Laboratory University of Maryland

RTSX Manipulator Lineage

Roboticus Dexterus Roboticus Videus Roboticus Grapplus

BAT Tilt & Pan Unit (2 DOF) BAT Dexterous Arm (5 DOF) ca. 1984 ca. 1984

BAT Grapple Arm (0 DOF) ca. 1984

Ranger Dexterous Arm Mk I (7 DOF) ca. 1994

Ranger Video Arm Mk I (6 DOF) ca. 1996 Ranger Positioning Leg (6 DOF) ca. 1998

Ranger Dexterous Arm Mk II (8 DOF) ca. 2001

SpaceRobotics.UND-SPST-470

Ranger Video Arm Mk II (7 DOF) ca. 1996

Ranger Grapple Arm (7 DOF) ca. 1996

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Space Systems Laboratory University of Maryland

Task Suite
Taskboard
Static force compliance task (spring plate) Dynamic force-compliant control over complex trajectory (contour task) High-precision endpoint control (peg-in-hole task)

Robotic ORU task

Remote Power Controller Module insertion/removal

Robotic assistance of EVA

Articulating Portable Foot Restraint setup/tear down
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Non-robotic ORU task

HST Electronics Control Unit insertion/removal
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Space Systems Laboratory University of Maryland

Operating Modalities
Flight Control Station
(FCS)
Single console Selectable time delay
No time delay Induced time delay Video Displays (3) Keyboard, Monitor, Graphics Display 2x3 DOF Hand Controllers CPU (Silicon Graphics O2)

Ground Control Station

Multiple consoles Communication time delay for all operations Multiple user interfaces
FCS equivalent interface Advanced control station interfaces (3-axis joysticks, 3D position trackers, mechanical mini-masters, and force balls)

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Space Systems Laboratory University of Maryland

Engineering Test Units (Ranger NBVII)

RNBV II is a fully-functional, powered engineering test unit for the RTSX flight robot. It is used for:
Refining hardware Modifying control algorithms and developing advanced scripts Verifying boundary management and computer control of hazards Correlating space and neutral buoyancy operations Supporting development, verification, operational, and scientific objectives of the RTSX mission Flight crew training

An articulated non-powered mock-up is used for hardware refinement and contingency EVA training
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Space Systems Laboratory University of Maryland

Results of a Successful Ranger TSX Mission

Demonstration of Dexterous Robotic Capabilities

Understanding of Human Factors Pathfinder for Flight of Complex Telerobot Control Testing of Advanced Robotics

Precursor for Low-Cost Free-Flying Servicing Vehicles

Lead-in to Cooperative EVA/Robotic Work Sites

Dexterous Robotics for Advanced Space Science

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Space Systems Laboratory University of Maryland

Testing & Operations

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Space Systems Laboratory University of Maryland

Ranger DXM MkI Impedance Testing

FORCE/TORQUE SENSOR
- 1 0 -1.05 -1.1 -1.15 -1.2 -1.25 time (s) 2 4 6 8 10 12

=b/k=1

Ranger MkI DXM

0 -25 -50 -75 -100 -125 -150 time (s) 0 2 4 6 8 10 12

DESIRED IMPEDANCE: MEASURED IMPEDANCE:

Kdes = 500 N/m Bdes = 500 N/m/s K=125/0.24=520 = 1 sec-1

CLIP#1 (RNBV-DXM impedance tests)

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Space Systems Laboratory University of Maryland

Ranger DXM MkII Integration & Testing

CLIP#2 (RNBVII - 4 DOF wrist tests) CLIP#3 (RNBVII - DXM MkII tests)

For more images and video on Ranger NBVII integration & testing, please visit our data webpage at http://ranger.ssl.umd.edu/data/
Space Systems Laboratory University of Maryland

26-MAR-2002

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Ranger NBVI Operations

CLIP#5 (RNBV - NASA/MSFC ops)

CLIP#4 (RNBV - SSL/NBRF ops)

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Space Systems Laboratory University of Maryland