Computer Science – Robotics
Scientific paper
Jan 1994
adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1994soar.conf..144d&link_type=abstract
In NASA. Johnson Space Center, The Seventh Annual Workshop on Space Operations Applications and Research (SOAR 1993), Volume 1 p
Computer Science
Robotics
Extravehicular Activity, Low Cost, Manipulators, Robotics, Space Shuttle Payloads, Systems Integration, Teleoperators, Contractors, Hubble Space Telescope, Performance Tests, Space Shuttle Orbiters, Technology Utilization
Scientific paper
The Servicing Aid Tool (SAT) is a teleoperated, force-reflecting manipulation system designed for use on the Space Shuttle. The system will assist Extravehicular Activity (EVA) servicing of spacecraft such as the Hubble Space Telescope. The SAT stands out from other robotics development programs in that special attention was given to provide a low-cost, space-qualified design which can easily and inexpensively be reconfigured and/or enhanced through the addition of existing NASA funded technology as that technology matures. SAT components are spaceflight adaptations of existing ground-based designs from Robotics Research Corporation (RRC), the leading supplier of robotics systems to the NASA and university research community in the United States. Fairchild Space is the prime contractor and provides the control electronics, safety system, system integration, and qualification testing. The manipulator consists of a 6-DOF Slave Arm mounted on a 1-DOF Positioning Link in the shuttle payload bay. The Slave Arm is controlled via a highly similar, 6-DOF, force-reflecting Master Arm from Schilling Development, Inc. This work is being performed under contract to the Goddard Space Flight Center Code, Code 442, Hubble Space Telescope Flight Systems and Servicing Project.
Dorman Keith W.
Eismann Paul H.
Karlen James P.
Keksz William O.
Kowalski Keith A.
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