The Self-Mobile Space Manipulator (SM2) has evolved to
adapt to the new pre-integrated I-beam structure of the Space Station
Freedom (SSF). In this paper, we first briefly overview the update of
the robot configuration and testbed. The new robot is capable of
projecting cameras anywhere interior or exterior of SSF, and will be
an ideal tool for inspecting connectors, structures, and other
facilities on SSF. Experiments have been performed under two gravity
compensation systems and a full-scale model of a segment of the
SSF. This paper then presents a real-time shared control architecture
that enables the robot to coordinate autonomous locomotion and
teleoperation input for reliable walking on SSF. Autonomous locomotion
can be executed based on a CAD model and off-line trajectory planning,
or can be guided by a vision system with neural network
identification. Teleoperation control can be specified by a real-time
graphical interface and a free-flying hand controller. SM2
will be a valuable assistant for astronauts in inspection and other
EVA missions.
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