Telerobotic Test and Training Facility for Ground-Based In-Orbit Servicing.

Abstract

The paper describes the necessity and the goals leading to the set-up of a test facility for ground-based telerobotic activities, basically devoted to give support to the Columbus programme, but also being extendable for use during telerobotic missions in conjunction with platforms in LEO or future geo- stationary satellite servicing. The different facility hardware and software components for real-time simulations are presented in detail, and a first approach for realization of a tele- operations concept is given including time delay simulation for uplink/downlink data transfer. Particular attention is dedicated to the need for simulating the manipulator dynamics by adequate real-time simulation software.