Development and Applications of Space Robotic Manipulation Technology at DLR

Orbital servicing missions aiming for operations such as life extension, repairing, or upgrading a client satellite, require the use of a manipulator arm operating on a controlled satellite base. For On-Orbit Services (OOS), the arm performs multiple tasks, including the approach, grasping and stabilization of the target (cooperative or not). Later, the docking maneuver begins and allows the connection of the two satellites through a dedicated interface, hence an OOS task or a de-orbiting maneuver can be performed on the combined structure. After docking or berthing the arm is free to perform activities such as inspection, refueling, repairing and servicing. DLR has been developing robotic manipulation technologies for over three decades, successfully working both on hardware (robotic manipulators and grippers) and software (torque and compliant control, as well as motion, task and assembly planning). This paper provides an overview of such developments, discussing some design aspects as well as mission requirements and operational considerations