Development of Space Environment Preservation System Using Robot

Kazuo Machida; Toshiaki Iwata

doi:10.20965/jrm.2006.p0067

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JRM Vol.18 No.1 pp. 67-75

doi: 10.20965/jrm.2006.p0067

(2006)

Paper:

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Development of Space Environment Preservation System Using Robot

Kazuo Machida^*, and Toshiaki Iwata^**

^*The University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo 153-8904, Japan

^**AIST, 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568, Japan

Received:

June 17, 2005

Accepted:

August 22, 2005

Published:

February 20, 2006

Keywords:

space robot, space maintenance vehicle, satellite assembly, satellite capture, satellite diagnosis

Abstract

We propose the concept of a robot-oriented space system called the “Space Environment Preservation System” that maintains a satellite constellation and orbit, and develop the basic technologies. A space maintenance vehicle carries and assembles modularized satellites, and places them in orbit. It captures and diagnoses them and replaces malfunctioning modules, to increase the reliability and life of the satellite constellation. It also collects, disassembles and removes satellites from orbit at the end of a mission, helping to preserve the space environment. In order to realize the system, the modularized satellite that can be easily assembled, maintained and disassembled by a robot must be devised. We developed the ground model of such a satellite, as well as the multifunctional space maintenance vehicle that functions as an in-orbit satellite assembly plant, diagnostic station, and satellite captor. These functions were demonstrated on a space simulated testbed.

Cite this article as:

K. Machida and T. Iwata, “Development of Space Environment Preservation System Using Robot,” J. Robot. Mechatron., Vol.18 No.1, pp. 67-75, 2006.

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References

[1] N. L. Johnson, “Monitoring and Controlling Debris in Space,” Scientific American, Aug., 1998.
[2] W. Brimley, D. Brown, and B. Cox, “Overview of International Robot Design for Space Station Freedom,” Teleoperation and Robotics in Space, Vol.161, Progress in Astronautics and Aeronautics, AIAA, pp. 411-441, 1994.
[3] D. King, “Space Servicing: Past, Present and Future,” Proc. of i-SAIRAS 2001, Quebec, Canada, June, 2001 (CD-ROM).
[4] M. D. Rhodes, and R. W. Will, “Verification Tests of Automated Robotic Assembly of Space Truss Structure,” J. of Spacecraft and Rockets, Vol.32, No.4, pp. 686-696, 1995.
[5] K. Senda, and Y. Murotsu, “Hardware Experiments of a Truss Assembly by an Autonomous Space Learning Robot,” J. of Spacecraft and Rockets, Vol.39, No.2, pp. 267-273, 2002.
[6] K. Machida, Y. Toda, and T. Iwata, “Sensor-based Proximity Operation of an Astronaut Reference Flying Robot,” Advanced Robotics, Vol.9, No.6, pp. 653-673, 1995.
[7] P. Jasiobedzki, M. Greenspan, and G. Roth, “Pose Determination and Tracking for Autonomous Satellite Capture,” Proc. i-SAIRAS’01, Quebec, Canada, June, 2001 (CD-ROM).
[8] N. Inaba, M. Oda, and M. Hayashi, “Visual Servoing of Space Robot for Autonomous Satellite Capture,” Trans. Japan Soc. Aero Space Sci., Vol.46-153, pp. 173-179, 2003.
[9] M. Oda, “Experience and Lessons Learned from ETS-VII Robot Satellite,” Proc. of 2000 IEEE Int. Conf. on Robotics and Automation, San Francisco, CA, April, 2000, pp. 914-919.
[10] K. Machida, “Space Test of Sensor-Fused Telerobotics for High-Precision Tasks,” J. of Spacecraft and Rockets, Vol.41, No.1, pp. 132-139, 2004.
[11] M. A. Diftler, and R. O. Ambrose, “Robonaut: A Robotic Astronaut Assistant,” Proc. i-SAIRAS’01, Quebec, Canada, June, 2001 (CD-ROM).
[12] M. Kassebom, “Roger – An Advanced Solution for a Geostationary Service Satellite,” Proc. of Int. Astronautical Congress 2003, IAC-03-U.1.02, LasVegas, Nevada, 2003.
[13] S. Nishida, T. Takegai, Y. Ohi, K. Machida, Y. Toda, and T. Iwata, “Prototype of an End-Effector for a Space Inspection Robot,” Advanced Robotics, Vol.15, No.3, pp. 279-285, 2001.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] N. L. Johnson, “Monitoring and Controlling Debris in Space,” Scientific American, Aug., 1998.

[2] [2] W. Brimley, D. Brown, and B. Cox, “Overview of International Robot Design for Space Station Freedom,” Teleoperation and Robotics in Space, Vol.161, Progress in Astronautics and Aeronautics, AIAA, pp. 411-441, 1994.

[3] [3] D. King, “Space Servicing: Past, Present and Future,” Proc. of i-SAIRAS 2001, Quebec, Canada, June, 2001 (CD-ROM).

[4] [4] M. D. Rhodes, and R. W. Will, “Verification Tests of Automated Robotic Assembly of Space Truss Structure,” J. of Spacecraft and Rockets, Vol.32, No.4, pp. 686-696, 1995.

[5] [5] K. Senda, and Y. Murotsu, “Hardware Experiments of a Truss Assembly by an Autonomous Space Learning Robot,” J. of Spacecraft and Rockets, Vol.39, No.2, pp. 267-273, 2002.

[6] [6] K. Machida, Y. Toda, and T. Iwata, “Sensor-based Proximity Operation of an Astronaut Reference Flying Robot,” Advanced Robotics, Vol.9, No.6, pp. 653-673, 1995.

[7] [7] P. Jasiobedzki, M. Greenspan, and G. Roth, “Pose Determination and Tracking for Autonomous Satellite Capture,” Proc. i-SAIRAS’01, Quebec, Canada, June, 2001 (CD-ROM).

[8] [8] N. Inaba, M. Oda, and M. Hayashi, “Visual Servoing of Space Robot for Autonomous Satellite Capture,” Trans. Japan Soc. Aero Space Sci., Vol.46-153, pp. 173-179, 2003.

[9] [9] M. Oda, “Experience and Lessons Learned from ETS-VII Robot Satellite,” Proc. of 2000 IEEE Int. Conf. on Robotics and Automation, San Francisco, CA, April, 2000, pp. 914-919.

[10] [10] K. Machida, “Space Test of Sensor-Fused Telerobotics for High-Precision Tasks,” J. of Spacecraft and Rockets, Vol.41, No.1, pp. 132-139, 2004.

[11] [11] M. A. Diftler, and R. O. Ambrose, “Robonaut: A Robotic Astronaut Assistant,” Proc. i-SAIRAS’01, Quebec, Canada, June, 2001 (CD-ROM).

[12] [12] M. Kassebom, “Roger – An Advanced Solution for a Geostationary Service Satellite,” Proc. of Int. Astronautical Congress 2003, IAC-03-U.1.02, LasVegas, Nevada, 2003.

[13] [13] S. Nishida, T. Takegai, Y. Ohi, K. Machida, Y. Toda, and T. Iwata, “Prototype of an End-Effector for a Space Inspection Robot,” Advanced Robotics, Vol.15, No.3, pp. 279-285, 2001.

Development of Space Environment Preservation System Using Robot

Kazuo Machida*, and Toshiaki Iwata**

Kazuo Machida^*, and Toshiaki Iwata^**