Abstract
The tele-operated Special Purpose Dexterous Manipulator (SPDM) will be used on the International Space Station to exchange failed orbital replaceable units (ORUs) for functional ones. Use of the SPDM will help reduce the burden on astronauts to perform these external maintenance tasks. Limited sensing capability on the SPDM, however, in combination with complex ORU worksites make the exchange of ORUs challenging tele-robotically. Position and force information constitute the primary sensor feedback to the operator. The operator also has limited camera views with which to monitor and direct the task. This paper describes the tele-sensing capabilities of the robotic maintenance system and proposes design concepts to supplement these capabilities.
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