HIROSCO - A High-Level Robotic Spacecraft Controller

Abstract

This paper presents a high-level control architecture for robotic spacecrafts. The design of this architecture focuses on future On-Orbit Servicing missions. Part of it is a component framework that improves software reuse in space applications and enables real-time communication between different components of a satellite which is essential for on-orbit servicing. Further, this architecture supports online reconfiguration of the components, resource management and a distribution of the components across a network. A supervisor monitors and coordinates all attached components. A prototype was successfully tested with a two axis robot and a force-reflecting joystick in a telepresence scenario.