Space Robotics

Abstract

This presentation reviews the topic of space robotics.

In the space jargon, often any unmanned space probe is called a robotic probe. This acknowledges the challenges of largely autonomous operation in a complex mission.

In the following, however, the focus will be on space robots: systems involving arms for manipulation or some kind of locomotion device for mobility, having the flexibility to perform varying tasks.

As an introduction, some definitions and the rationale for space robotics are given. The main differences between space and terrestrial robots are highlighted, and it is shown that they are driven by the peculiar environmental, system and programmatic constraints of space missions.

A second part describes the typical architecture, sub-systems, and some key technologies of robot systems. This distinguishes between manipulator arm and rover type robots. The interdisciplinary system character of space robotics is emphasised.

Finally the two main fields of orbital robotics and planetary robotics are introduced, together with the currently perceived application scenarios (i.e. system servicing and payload tending in Low-Earth-Orbit, satellite servicing in Geostationary Earth Orbit, the assembly of large orbiting structures, and applications in exploration missions to the Moon, Mars, Mercury, comets, asteroids, and other celestial bodies).

For each application scenario, the main robotic functions are presented and some developed/in-development robotic systems, most relevant to the CLAWAR conference, are described.