The flight telerobotic servicer (FTS): A focus for automation and robotics on the space station

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NASA has committed to the design and implementation of a robotic device to assist the astronauts in assembly, maintenance, servicing and inspection tasks in the unpressurized environment of the Space Station, substantially reducing the time required for crew extra vehicular activity (EVA). This system introduces into the Space Station program a “telerobot” adaptable to a variety of tasks and worksites. The term “telerobot” is used to indicate the combined attributes of an autonomous robot and a teleoperated manipulator. Design requirements for the telerobot are driven by a detailed analysis of the tasks which are required on the Space Station and its associated free-flying platforms. The Space Station will have several kilometers of truss structure to which are attached numerous scientific payloads, as well as functional elements and utilities of the Space Station itself. Scientific payloads require servicing of different levels of complexity. Free-flying spacecraft will be brought into the hangar-like servicing facility for repair. There will be maintenance and inspection tasks of the Space Station elements, as well as initial Space Station assembly tasks. A step-by-step analysis of candidate tasks has led to a design envelope for the telerobot. Since the telerobot is an extension or telepresence of the astronaut at the remote worksite, design of the workstation in the pressurized module has to give careful consideration to the man/machine interface, as well as the constrained volume in the pressurized modules. The flight telerobotic servicer (FTS) is designed for future growth toward more autonomy. By a careful selection of the functional architecture, and a modular approach to the hardware and software design, the FTS can accept developments in artificial intelligence and newer, more advanced sensors, such as machine vision and collision avoidance. The FTS is a focus for automation and robotics on the Space Station, as well as a baseline from which visionary projections of future space exploration with robots can be developed.