Space automation and robotics activities past, present and future: Next steps for a robotics laboratory
An Automation and Robotics (A&R) laboratory is being developed at the National Aerospace Laboratory NLR. The laboratory is intended to be a testbed for harmonized ESA/Dutch operations technology. A number of activities related to (internal) A&R are reviewed. A reference scenario involving liquid sloshing experiments based on an external robot arm is analysed to suggest next steps for further developments. Remote utilization of robotics technology is emphasised.
Development and operations in the Dutch utilisation centre
At the early beginning (1989) of implementation of the European User Support Organisation (USO) concept, development and implementation of a Dutch Utilisation Centre (DUC) started at NLR premises. After development of several pilot DUC facilities, DUC participated in a Columbus simulation mission and in the 2nd International Micro-gravity Laboratory mission (IML-2). Different ground segment configurations were set up at different locations to meet the specific requirements for the missions. DUC development focuses on achieving a flexible support concept in teleoperations, telerobotics, and visual (video) information processing and presentation, using different communication concepts and video equipment. The configurations are prepared for the purpose of future missions onboard International Space Station. Support will be provided to both experiments and systems operations, such as operations with the European Robotic Arm (ERA). The paper will describe the technical set-up of the DUC, focusing on the communication infrastructure and the ground segment systems for receiving the various data streams.
Remote payload operations supported by automation and robotics: Ground-based simulation with hardware-in-the-loop
The specific demands and restrictions of remote payload operations in space require special attention during the development and operational phases. One of the important tools used in this process is simulation. The actual type of simulation depends on aspects like the complexity of the system, safety aspects and the development phase it is used in. NLR is developing a testbed for several aspects of payload operations in space, in which simulations play an important role. The design and use of this testbed is described. In the design of the testbed, attention was payed to communication simulation, software and hardware interfaces and easy access to configuration and state parameters. Ground-based simulation with hardware-in-the-loop (HIL) is demonstrated using communication simulation, robot operation simulation and the use of a mock-up consisting of an experiment rack and a robot system. In addition, remotely controlled video equipment is used to provide a visual monitoring capability for the ground operator.