Advanced Ground-Based Telerobotic Operations and Simulation
Environment

Martin Loesch
Martin.Loesch@dlr.de
DLR/GSOC

Abstract:
The use of advanced automated and robotic technology in space systems is
increasingly gaining importance with the main driving forces being cost
decrease, routine operations with high precision and repeatability, human safety
and operations in hostile and inaccessible environment for man.  Both, remotely
operated robotic manipulators by human teleoperators on ground and partly
automated robotic operations with human supervision in the control loop, are
expected to be the most important telerobotic operations modes.  To prepare for
that new kind of space systems operations, to gain confidence in the novel
telecontrol technologies and to support the ground operations segment, DLR has
set up a Test and Training Facility for In-Orbit Telerobotic Servicing
Operations.

This paper gives an overview of the modelling and simulation capabilities of the
facility with the main purpose to provide a simulation environment for real-time
dynamic simulations, hardware component testing and human teleoperator training.
The main intention of the paper is to focus predominantly on the realized
overall software architecture and their capabilities runnmg the complex
real-time telerobotic operations and simulation environment.  Emphasis is given
to the presentation of the efficient data flow management between the different
processes running on a total of 4 computer systems.  In this context, within the
simulation enviromnent, the integration of the software tools used is shown.
These tools are: the commercially available software packages SIMPACK for the
multlbody system dynamic simulation, KISMET for the animation of the simulated
flight system, and TAEPlus as a graphical user interface builder for supporting
the graphical envirorunent set-up of the MMI system.  Moreover, individually
created software is responsible for additional tasks such as for process
communications between the applications running on the different workstations.
It also manages the data flow between the simulation enviromnent and the
laboratory hardware.

Furthermore, the functionality and the performance of the simulation philosophy
will be demonstrated by presenting the first results of simulations based on a
laboratory manipulator, presently an industrial robot.  Moreover, a successful
demonstration experiment via a satellite link set up with the Spanish aerospace
institution INTA will be reported.  A near-future space application is expected
to arise with the establishment of geostationary servlcing satellites, such as
the German Experimental Servicing Satellite ESS, which is currently under
investigation in phase A/B with our participation.  Within this scenario, besides
the simulation of the complete manipulator system, the possibility of testing
and verifying of the capture tool and other manipulative tools being connected
to the manipulator arm, will be presented.  A final outlook towards the general
capabilities of the Servicing Test Facility regarding the general field of
dynamic simulation and operator training will conclude the presentation.