Systems Analysis of the Benefits of Multiple Model-Based Cooperating Serial-Link Manipulators

Dexterous space manipulators have proven to be a great asset, enabling in-space assembly and repair, assisting astronauts, and supporting experiments. Serial manipulators on the International Space Station are used to accomplish spacecraft berthing, and were instrumental in the assembly of the station itself. As technology improves, robotic systems are able to accomplish more complex tasks. The use of multiple cooperating robot systems will allow for greater strength, accuracy, and stiffness of payload motion;1–4 current plans use multiple dexterous manipulators to perform future tasks such as satellite servicing, refueling, and asteroid retrieval.