The JPL/KSC telerobotic inspection demonstration

Abstract

An ASEA IRB90 robotic manipulator with attached inspection cameras was moved through a Space Shuttle Payload Assist Module (PAM) Cradle under computer control. The Operator and Operator Control Station, including graphics simulation, gross-motion spatial planning, and machine vision processing, were located at the Jet Propulsion Laboratory (JPL) in California. The Safety and Support personnel, PAM Cradle, IRB90, and image acquisition system, were stationed at the Kennedy Space Center (KSC) in Florida. Images captured at KSC were used both for processing by a machine vision system at JPL, and for inspection by the JPL Operator. The system found collision-free paths through the PAM Cradle, demonstrated accurate knowledge of the locations of obstacles and of objects of interest, and operated with a communication delay of two seconds. Safe operation of the IRB90 near Shuttle flight hardware was obtained through the use of both a gross-motion spatial planner developed at JPL using artificial intelligence techniques, and infrared beams and pressure sensitive strips mounted to the critical surfaces of the flight hardware at KSC. The Demonstration showed that ground/remote telerobotics is effective for real tasks, safe for personnel and hardware, and highly productive and reliable for Shuttle payload operations and Space Station external operations.