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The International Handbook of Space Technology

Part of the book series: Springer Praxis Books ((ASTROENG))

Abstract

This chapter discusses robotics technology for space missions. First, a general definition of a robot and an overview of the historical development of space robots are provided. Then technical details of orbital space robots, planetary robots, and telerobotics are given in the subsequent sections.

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Notes

  1. 1.

    A robotic maintenance mission of the Hubble Space Telescope was seriously studied after the Space Shuttle Columbia accident (STS-107), but it was finally conducted as a crewed mission by STS-125.

  2. 2.

    Five arms were built in total but one was destroyed in the Challenger accident in 1986.

  3. 3.

    Radioisotope thermoelectric generators (RTG) can solve these limitations for the solar array panels.

  4. 4.

    Electrical power is described in Chap. 10, thermal systems in Chap. 13, and telecommunications in Chap. 14.

  5. 5.

    The average velocity of an MER was about 0.01 m/s. The Mars Science Laboratory (MSL) Curiosity was designed to travel up to approximately 200 m per day [64].

  6. 6.

    The term terramechanics is coined from ‘terrain’ and ‘mechanics’. Soil mechanics is the study of the interaction of structures in various soils.

  7. 7.

    One assumption in Bekker’s pressure-sinkage model is that the contact point of the wheel on deformable soil (circumferential section) is a series of consecutive flat plates.

  8. 8.

    Bekker noted this issue: “Predictions for wheels smaller than 20 inches in diameter become less accurate as wheel diameter decreases, because the sharp curvature of the loading area was neither considered in its entirety nor is it reflected in bevameter tests” [66].

  9. 9.

    These assumptions provide an inaccurate prediction for vehicles with wheel diameters less than approximately 50 cm and a normal loading of less than approximately 45 N [85].

  10. 10.

    The Mars Reconnaissance Orbiter launched by NASA achieved 0.3 m resolution with a high-resolution imaging science experiment (HiRISE) camera.

  11. 11.

    A high computational burden is the reason for such a short usage of the visual odometry.

  12. 12.

    The latency is a summation of the propagation time of the radio wave and the delays of signal processing in the computers and communications nodes. For example, in case of the ISS at 400 km altitude, the direct round-trip radio-propagation delay is just 0.003 s. But if the communication is linked via a geostationary satellite at 36,000 km altitude, the round trip delay increases to 0.5 s. The ETS-VII, which was a low-Earth orbit satellite at about 550 km altitude, utilized the round-trip of two different geostationary satellites and, with cumulative delays in the transmission nodes, the total latency was 5–6 s in practice. Between the Earth and the Moon, the round-trip delay due to just the distance is 2.5 s. For the Mars, it varies from 6.2 to 45 min depending on the relative positions of Earth and Mars in their orbits.

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Author information

Authors and Affiliations

  1. The Space Robotics Laboratory, Department of Aerospace Engineering, Tohoku University, Sendai, Japan

    Kazuya Yoshida

  2. Department of Mechanical Systems Engineering, Tokyo City University, Tokyo, Japan

    Dragomir Nenchev

  3. Department of Mechanical Engineering, Keio University, Yokohama, Japan

    Genya Ishigami

  4. Graduate School of Science and Engineering, Yamagata University, Yonezawa, Japan

    Yuichi Tsumaki

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  1. Kazuya Yoshida
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  2. Dragomir Nenchev
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  3. Genya Ishigami
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  4. Yuichi Tsumaki
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Correspondence to Kazuya Yoshida .

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  1. Glasgow, United Kingdom

    Malcolm Macdonald

  2. Polytechnic University Bucuresti Candida Oancea Inst., Bucuresti, Romania

    Viorel Badescu

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Yoshida, K., Nenchev, D., Ishigami, G., Tsumaki, Y. (2014). Space Robotics. In: Macdonald, M., Badescu, V. (eds) The International Handbook of Space Technology. Springer Praxis Books(). Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-41101-4_19

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