Flight Telerobotic Servicer: the design and evolution of a dexterous space telerobot

The Flight Telerobotic Servicer (FTS) Project is developing an advanced telerobotic system to assist in and reduce the crew extravehicular activity for Space Station Freedom. The FTS will provide a telerobotic capability to the Freedom Station in the early assembly phases of the program and will be employed for assembly, maintenance, and inspection applications throughout the lifetime of the Space Station. Appropriately configured elements of the FTS may also be employed for robotic manipulation in remote satellite servicing applications and possibly the Lunar/Mars Program. The authors describe the FTS design approach for evolution to more autonomous capabilities. Some specific task applications of the FTS and partial automation approaches of these tasks are also discussed