Assembly and Operation of Robotics Components On-Board ISS

Paper number

IAC-05-B4.2.02

Author

Dr. Wolfgang Paetsch, EADS Astrium, Germany

Coauthor

Mr. Michael Turk, German Aerospace Center (DLR), Germany

Coauthor

Mr. Klaus Landzettel, Deutsches Zentrum fur Luft und Raumfahrt e.V. (DLR), Germany

Year

2005

Abstract

Robotic systems are used to support manned spaced missions as well as autonomous space exploration.

For preparation of future robotic systems the Robotic Component Verification on-board ISS (ROKVISS) project is currently running on board ISS. In this project several core elements (e.g. robotic joints, central controller, sensor (camera) systems) of a robotic system in January 2005 were installed outside and inside the Russian service module and are currently operated using several ground stations.
The robotic joints and the cameras placed outside the service module are controlled by the central controller which is located inside the service module. The controller is connected to an S-band transmitter/receiver system also placed outside the Russian SM. While supervised by the on-board ISS data handling system the joints and the cameras can be operated from ground.

The paper and the presentation will focus on the assembly and operation of the ROKVISS parts. Starting with a comprehensive summary of the elements used, emphasis will be put on the assembly of these elements in the first part the. The IVA and EVA activities for installation will be described in detail.  
The main part of the paper will deal with the operation of the robotic elements. After a description of the different operational modes including the ground control centres involved, examples of the operation will be shown.

Especially the fact that these elements can be directly controlled from a user ground station will be shown, focusing on the results (e.g. video-clips) of the tele-presence operation done the first time in the world with respect to ISS operation.

In tele-presence mode the on-ground operator is commanding the devices directly with a joystick using the sensor data (on-line stereo images and joint position and torque data) fed back to him via the direct S-band link as input data. 

The paper ends with a comprehensive summary and an outlook describing in which way the elements and the experiences gained by the operation on-board ISS will be used for future projects in several application areas. 

Abstract document

IAC-05-B4.2.02.pdf

Manuscript document

IAC-05-B4.2.02.pdf (🔒 authorized access only).

To get the manuscript, please contact IAF Secretariat.