Mobility And Manipulation Of A Light-weight Space Robot

We have developed a light-weight space manipulator, Self-Mobile Space Manipulator (SM'), in the Robotics Institute at Carnegie Mellon University. SM' is a 7-degreeof-freedom (DOF), 1/3-scale, laboratory version of a robot designed to walk on the trusswork and other exterior surfaces of Space Station Freedom, and to perform manipulation tasks that are required for inspection, maintenance, and construction. Combining the mobility and manip ulation functions in one body as a mobile manipulator, SM2 is capable of routine tasks such as inspection, parts transportation, object lighting, and simple assembly procedures. The system will provide assistance to astronauts and greatly reduce the need for astronaut extra-vehicular activity (EVA). This paper discusses the robot hardware development, gravity compensation system, control structure and teleoperation functions of the SM2 system, and demonstrates its capabilities of locomotion and manipulation in space applications.