Using robots for astronaut training

The drive for a more accurate and easily "reconfigurable" on-orbit simulation has spawned the development of "robotic" mockups for use in extravehicular activity (EVA) training. While it is apparent that no technique can exactly mimic the test space environment, this article describes work in progress at the University of Maryland to incorporate actively controlled mockups, capable of simulating free-floating satellites and robotic systems, into a neutral buoyancy environment. A set of potential requirements for robotic training devices is outlined, and the strengths and weaknesses of several candidate configurations are compared. Free-floating satellites between 125 and 1,000 kg were successfully simulated using the baseline admittance controller running on a serial manipulator.