Space flight manipulator technologies and requirements for the NASA Flight Telerobotic Servicer (FTS)

Abstract

The many robotic technologies developed to meet the 30 year space environment design requirements are discussed in this paper. The manipulator properties were to allow positioning control to one thousandths of an inch, with zero actuator backlash over a temperature range of -50 to +95 degrees C, and were to include impedance control and inertial de-coupling. Safety and reliability requirements are discussed that were developed to allow a thirty year life in space with minimum maintenance. The system had to meet the safety requirements for hazardous payloads for operation in the Shuttle Payload Bay during demonstration test flights prior to Station use. A brief description is contained on an Orbiter based robotic experiment and operational application using the dexterous FTS manipulator operating on the end of the Shuttle Remote Manipulator Systems (SRMS) from ground control. Anticipated Mission TasksThe original FTS concept for Space Station Freedom (SSF) was to provide telerobotic assistance to enhance crew activity and safety, and :to reduce crew EVA (Extra Vehicular Activity) activity. The first flight of the FTS manipulator systems would demonstrate several candidate tasks and would verify manipulator performance parameters. These first flight tasks included