The Self-Mobile Space Manipulator (SM2) is a seven-DOF
inspection robot, capable of walking along the pre-integrated I-beam
truss structure of Space Station Freedom. In this paper, we first
briefly overview the robot configuration and testbed. The robot is
capable of projecting cameras anywhere interior or exterior of the
SSF, and will be an ideal tool for inspecting connectors, structures,
and other facilities on the SSF. Using a full-scale model of a small
segment of the SSF, experiments have been performed under two gravity
compensation systems. We next present the real-time shared control
architecture that enables the robot to coordinate autonomous
locomotion and teleoperation input for reliable walking on the
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 can be a valuable assistant for astronauts
in inspection and other EVA missions, and provides a paradigm for
human-robot coordination in space.
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