Patrick Stakem

Robots and Telerobots in Space Applications Patrick Stakem

This book will help you understand the fundamentals of robotics and telerobotics for the space environment. It will point out what the robotic systems can and can't do. Examples of systems and case study's and design examples will be presented. We will review the basics and definitions of robotic and telerobotic systems, as well as the unique characteristics of the space environment to determine where the trade-offs lie. We will compare and contrast with underwater, military, commercial, hazmat and other terrestrial systems. We will not discuss CAD/CAM or manufacturing, which probably makes up 90% of the applications of robotics on Earth. We will review system level components, and discuss sensors, power sources, actuators, and computation and communication systems. Actuators will include tools and grippers. Necessarily, we will discuss simulation, task planning, guided autonomy, and autonomous systems, as well as system models. Today's robot systems are deaf, blind and stupid. And, we expect them to operate in an unstructured environment. But, they are getting better, as technology advances. Robotics are handicapped. in terms of mobility and manipulation, sensory input, cognitive processing, learning and the application of experience. However, they have better computational capability, better communications capability, fewer environmental constraints, and, certainly, fewer ethical issues. (Leaving aside the issue of military armed robots). Over 150 references are included