Space robotics

Abstract

This paper reviews the topic of space robotics. As anintroduction, some definitions and the rationale for spacerobotics are given. The main differences between space andterrestrial robots are highlighted, and it is shown that theyare driven by the peculiar environmental, system, andprogrammatic constraints of space missions. Some commonobjections against the use of space robotics are mentioned andrebutted.A major part describes the typical architecture, sub-systems,and some key technologies of space robot systems. Thisdistinguishes between `manipulator arm' and `rover' typerobots. The interdisciplinary system character of spacerobotics is emphasized.The currently perceived application scenarios for space roboticsare introduced next: low-Earth-orbit applications for systemservicing and payload tending, satellite servicing ingeostationary Earth orbit, the assembly of large orbitingstructures, and applications in exploration missions to theMoon, Mars, Mercury, comets, asteroids, and other celestialbodies. Throughout, the main robotic functions are presented andthe most eminent robotic systems are described which have beenoperated or are under development.The practical usage of space robots is illustrated in a finalsection. The concept of the robot as a transparent tool for theground user is stressed, and a systematic methodology fordeveloping investigations involving space robots is proposed.The paper closes with some suggestions for more`non-conventional' scientific uses of space robots and generalconclusions. High-level literature is indicated to deepen theappreciation and understanding of the technology and itsapplications.