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JERICO: A small and dextrous robot for payload manipulation on the ISS-Russian segment
Abstract
JERICO is a robot system for tending exposure payloads on the International Space Station-Russian Segment. It is jointly developed by the European Space Agency (ESA) and the Italian Space Agency (ASI), and in co-operation with RSC / Energia. JERICO has been proposed to the Russian Space Agency. JERICO can perform installation / removal of small payloads, handling of payload units (samples or sample cassettes) for in situ scientific or technological investigations and close-up visual inspection by means of a camera. The above tasks can be pre-programmed and performed automatically under ground supervision. This paper provides a short description of the JERICO system, and it details the operations which JERICO shall be performed during its demonstration mission. 2000 Lister Science.
The concept of the OOS of spacecraft can be traced back to the 1960s, when the main focus was on providing the necessary maintenance to advance the lifetime of spacecraft and extending the scale and function through on-orbit assembly. During the past decades, the Hubble Space Telescope has made great contributions to the fields of astronomy and physics through both observational data and the success of five OOS missions to overcome big challenges. That included an initial flaw of its primary mirror and subsequent obstacles associated with replacing and upgrading its science instruments. Furthermore, many programs have been carried out in the area of the OOS of spacecraft with successful operations in space. It could be exemplified by the assembly of the International Space Station, service verification of ETS-VII and Orbital Express, and detailed research for future applications including servicer and client satellites and particularly large space systems. This paper attempts to summarize all reported programs of the OOS in terms of engineering developments and provide an overall perspective for investigators in this field. Based on the reviewed programs, an analysis is carried out to elucidate the logical architectures of the mission and technology of the OOS of spacecraft. Further attention is paid to discussions of the enabling technologies that support the development of the OOS and related spacecraft. As an outlook, the future development and challenges of the OOS and the application of novel technologies are finally discussed to extend the present review work.
This paper reviews the topic of space robotics. 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. Some common objections against the use of space robotics are mentioned and rebutted.
A major part describes the typical architecture, sub-systems, and some key technologies of space robot systems. This distinguishes between `manipulator arm' and `rover' type robots. The interdisciplinary system character of space robotics is emphasized.
The currently perceived application scenarios for space robotics are introduced next: low-Earth-orbit applications for system servicing and payload tending, 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. Throughout, the main robotic functions are presented and the most eminent robotic systems are described which have been operated or are under development.
The practical usage of space robots is illustrated in a final section. The concept of the robot as a transparent tool for the ground user is stressed, and a systematic methodology for developing investigations involving space robots is proposed. The paper closes with some suggestions for more `non-conventional' scientific uses of space robots and general conclusions. High-level literature is indicated to deepen the appreciation and understanding of the technology and its applications.
Extension of the ERA capabilities by Iteraction with other automated facilities on the Russian Segment of the ISS
- V Michtchenko
- S Kampen
- F Didot
Extension of the ERA capabilities by Iteraction
with other automated facilities on the Russian
Segment of the ISS, V. Michtchenko, S.
Kampen, F. Didot; i-SAlRAS'97
The SPIDER Manipulation System
- R Mugnuolo
- S Di Pippo
The SPIDER Manipulation System; R.
Mugnuolo, s. Di Pippo (ASI), P.G. Magnani, E.
Re (Tecnospazio), i-SAIRAS'97