SM/sup 2/ for new space station structure: autonomous locomotion and teleoperation control

The self-mobile space manipulator (SM/sup 2/) has evolved to adapt to the new pre-integrated I-beam structure of the Space Station Freedom (SSF). In this paper, we first briefly overview the update of the robot configuration and testbed. The new robot is capable of projecting cameras anywhere interior or exterior of SSF, and will be an ideal tool for inspecting connectors, structures, and other facilities on SSF. Experiments have been performed under two gravity compensation systems and a full-scale model of a segment of the SSF. This paper then presents a real-time shared control architecture that enables the robot to coordinate autonomous locomotion and teleoperation input for reliable walking on SSF. Autonomous locomotion can be executed based on a CAD model and off-line trajectory planning, or can be guided by a vision system with neural network identification. Teleoperation control can be specified by a real-time graphical interface and a free-flying hand controller. SM/sup 2/ will be a valuable assistant for astronauts in inspection and other EVA missions.<<ETX>>