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End-to-end robotic module changeout procedure on the Explorer Platform Spacecraft

The demand for cost effective space science missions has resulted in the design of spacecrafts whose lives can be extended by changing certain on-orbit replaceable components. To increase cost savings, robots can be used to reduce astronaut time during the servicing and accomplish preparatory and mundane tasks such as the insertion of foot restraints and the opening of stowage areas. The work described in this paper demonstrates the feasibility of a semi- autonomous system capable of assisting astronauts using high fidelity mockups of actual space hardware.