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Space Robotics

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Springer Handbook of Robotics

Part of the book series: Springer Handbooks ((SHB))

Abstract

In the space community, any unmanned spacecraft can be called a robotic spacecraft. However, Space Robots are considered to be more capable devices that can facilitate manipulation, assembling, or servicing functions in orbit as assistants to astronauts, or to extend the areas and abilities of exploration on remote planets as surrogates for human explorers.

In this chapter, a concise digest of the historical overview and technical advances of two distinct types of space robotic systems, orbital robots and surface robots, is provided. In particular, Sect. 55.1 describes orbital robots, and Sect. 55.2 describes surface robots. In Sect. 55.3, the mathematical modeling of the dynamics and control using reference equations are discussed. Finally, advanced topics for future space exploration missions are addressed in Sect. 55.4.

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Abbreviations

3-D:

three-dimensional

ASTRO:

autonomous space transport robotic operations

CARD:

computer-aided remote driving

DLR:

German Aerospace Center

DOF:

degree of freedom

ECU:

electronics controller unit

ERA:

European robotic arm

ESA:

European Space Agency

ETS-VII:

Engineering Test Satellite VII

EVA:

extravehicular activity

FPGA:

field-programmable gate array

GEO:

geostationary Earth orbit

GF:

grapple fixture

GJM:

generalized Jacobian matrix

HST:

Hubble space telescope

ISS:

international space station

JAXA:

Japan Aerospace Exploration Agency

JEM:

Japan Experiment Module

JEMRMS:

Japanese experiment module remote manipulator system

JPL:

Jet Propulsion Laboratory

LEO:

low Earth orbit

MBS:

mobile base system

MESUR:

Mars environmental survey

MRSR:

Mars rover sample return

NASDA:

National Space Development Agency of Japan

NLP:

nonlinear programming problem

ORU:

orbital replacement unit

PDGF:

power data grapple fixture

RBT:

robot experiment

RNS:

reaction null-space

ROKVISS:

robotics components verification on the ISS

RVD:

rendezvous/docking

RWS:

robotic workstation

SAN:

semiautonomous navigation

SEE:

standard end effector

SGM:

semiglobal matching

SLRV:

surveyor lunar rover vehicle

SPDM:

special purpose dexterous manipulator

SQP:

sequential quadratic programming

SRMS:

shuttle remote manipulator system

SSRMS:

space station remote manipulator system

SVD:

singular value decomposition

VM:

virtual manipulator

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Author information

Authors and Affiliations

  1. Department of Aerospace Engineering, Tohoku University, Aoba 01, 980-8579, Sendai, Japan

    Kazuya Yoshida

  2. Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Ridge Grove Drive, CA 91109, Pasadena, USA

    Brian Wilcox

  3. Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Münchner Strasse 20, 82230, Wessling, Germany

    Gerd Hirzinger

  4. Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Münchner Strasse 20, 82234, Wessling, Germany

    Roberto Lampariello

Authors
  1. Kazuya Yoshida
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  2. Brian Wilcox
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  3. Gerd Hirzinger
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  4. Roberto Lampariello
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Corresponding author

Correspondence to Kazuya Yoshida .

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, University of Naples Federico II, Via Claudio 21, 80125, Naples, Italy

    Bruno Siciliano

  2. Department of Computer Sciences, Artificial Intelligence Laboratory, Stanford University, 450 Serra Mall, CA 94305, Stanford, USA

    Oussama Khatib

Video-References

Video-References

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DLR ROTEX: The first remotely controlled space robot available from http://handbookofrobotics.org/view-chapter/55/videodetails/330

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DLR predictive simulation compensating 6 seconds round-trip delay available from http://handbookofrobotics.org/view-chapter/55/videodetails/331

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DLR GETEX manipulation experiments on ETSVII available from http://handbookofrobotics.org/view-chapter/55/videodetails/332

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DLR ROKVISS animation available from http://handbookofrobotics.org/view-chapter/55/videodetails/333

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DLR ROKVISS camera images pulling spring available from http://handbookofrobotics.org/view-chapter/55/videodetails/334

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DLR ROKVISS disassembly available from http://handbookofrobotics.org/view-chapter/55/videodetails/336

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DLR telepresence demo remove cover available from http://handbookofrobotics.org/view-chapter/55/videodetails/337

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DLR telepresence demo with time delay available from http://handbookofrobotics.org/view-chapter/55/videodetails/338

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DLR DEOS demonstration mission simulation available from http://handbookofrobotics.org/view-chapter/55/videodetails/339

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Yoshida, K., Wilcox, B., Hirzinger, G., Lampariello, R. (2016). Space Robotics. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer Handbooks. Springer, Cham. https://doi.org/10.1007/978-3-319-32552-1_55

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  • DOI: https://doi.org/10.1007/978-3-319-32552-1_55

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-32550-7

  • Online ISBN: 978-3-319-32552-1

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