Primary arm and secondary tool combined system

Abstract

To provide a system and method for robotic manipulation.SOLUTION: The system includes a primary arm having a two arm links, a secondary tool, an attachment for attaching the secondary tool to the primary arm, and a controller of the primary arm for operating the secondary tool. The method includes taking a secondary arm out of a storage location, securing the secondary arm to the primary arm, and operating the secondary arm with the controller of the primary arm.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The embodiments disclosed herein relate to robotic manipulation, and more particularly, to systems, methods, and devices for a combined primary arm and secondary tooling system. [Background technology]

[0002] Traditionally, accessing constrained workspaces can be difficult, especially where there are angled interfaces, such as in enclosed cavities, that may be impossible for the original arm to access. Simply adding more tools to a traditional system complicates the control of the robot.

[0003] There are several challenges that exist while implementing robot control, including computation of inverse kinematics for multi-arm control, data transfer structure through both arms, reconfiguration of control algorithms / controllers to facilitate diverse control outputs, subsystem output allocation, safe operating procedures, and hazard control of coupled arms. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Canadian Patent No. 3,106,753 [Patent Document 2] International Publication No. 2023 / 108293 Brochure Summary of the Invention [Problem to be solved by the invention]

[0005] Therefore, there is a need for improved systems and methods for robotic navigation. [Means for solving the problem]

[0006] A system for manipulating a robot is provided that includes a primary arm with two arm links, a secondary tool, an attachment for mounting the secondary tool to the primary arm, and a primary tool controller for manipulating the secondary tool.

[0007] The attachment may be attached to the wrist of the primary arm.

[0008] The secondary tool may be a secondary arm.

[0009] The primary arm may be operable to walk rotationally on the platform from a first grasping fixture to another grasping fixture.

[0010] The primary arm can include a first end effector operable to connect the primary arm to a first grasping fixture and a second end effector operable to connect the primary arm to a second grasping fixture. The primary arm can maneuver the first end effector and the second end effector to different locations on the platform.

[0011] The primary arm may include a first boom and a second boom, a first joint connecting the first end effector to the first boom, the first joint having a three degree of freedom wrist cluster, a second joint connecting the first boom to the second boom, the second joint having a three degree of freedom wrist cluster, and a third joint connecting the second boom to the second end effector.

[0012] The first boom and the second boom may include first and second on-orbit replacement unit interfaces. The first and second on-orbit replacement unit interfaces may provide any one or more of mechanical goods, power, and data to the interface object.

[0013] The primary arm controller may be operable to compensate for larger and more complex configurations with both a primary arm and secondary tooling.

[0014] The secondary arm may have seven degrees of freedom.

[0015] The primary arm may have seven degrees of freedom.

[0016] The secondary arm may include a grasping fixture for interacting with a survey instrument. The grasping fixture may transmit any one or more of mechanical, electrical, and data transfer to said survey instrument.

[0017] The primary arm may have a primary axis of steering and the secondary arm may have a secondary axis of steering. The primary axis may be orthogonal to the secondary axis.

[0018] The secondary tool may be any one or more of an on-orbit replacement unit, a camera, an illumination system, and an observation instrument.

[0019] The secondary tool may be any one or more of an end effector, an instrument, a replacement control moment gyroscope, a power converter, a replacement actuator, and an inspection package.

[0020] The first joint and the second joint may be removable from the primary arm and capable of passing through an airlock into the interior of the space station for maintenance.

[0021] A method is provided for installing a secondary arm on a primary arm, the method including the steps of retrieving the secondary arm from a storage location, securing the secondary arm to the primary arm, and operating the secondary arm with a controller of the primary arm.

[0022] The method may further include firing the primary arm and the secondary arm.

[0023] The method may further include mechanically and electrically releasing the secondary arm from the launch package of the on-orbit replacement unit interface.

[0024] The method may further include detaching the secondary arm from the primary arm.

[0025] The method may further include servicing the secondary arm after detaching the secondary arm from the primary arm.

[0026] The method may further include removing the on-orbit replacement unit and replacing the observation equipment using the secondary arm.

[0027] Other aspects and features will become apparent to those of ordinary skill in the art upon review of the following description of several exemplary embodiments.

[0028] The drawings included herein are intended to illustrate various examples of the articles, methods, and devices herein. [Brief description of the drawings]

[0029] [Figure 1] FIG. 1 is a block diagram illustrating a combined primary arm and secondary tool system according to an embodiment. [Diagram 2] FIG. 1 is a block diagram illustrating a system for robotic navigation, according to an embodiment. [Diagram 3] 1 is a flowchart illustrating a method for robotic steering, according to an embodiment. [Figure 4A] FIG. 13 is a block diagram showing a crew member accessing an airlock, according to an embodiment. [Figure 4B] FIG. 13 is a block diagram showing a crew member accessing an airlock, according to an embodiment. [Figure 5A] FIG. 13 is a block diagram showing a crew member moving observation equipment into an airlock, according to an embodiment. [Figure 5B]FIG. 13 is a block diagram showing a crew member moving observation equipment into an airlock, according to an embodiment. [Figure 6] FIG. 1 is a block diagram illustrating a system for robotic navigation, according to an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0030] A variety of equipment or processes are described below, each providing an example of a claimed embodiment. The embodiments described below are not intended to be limiting of any embodiment that is claimed, and any embodiment that is claimed may cover a process or equipment that is different from the embodiments described below. A claimed embodiment is not limited to an apparatus or process having all the features of any apparatus or process described below, or to features common to multiple or all of the apparatuses described below.

[0031] The description of an embodiment with multiple components in communication with each other does not imply that all such components are required, but rather, a variety of optional components are described to illustrate the possibilities of various embodiments of the invention.

[0032] Additionally, although process steps, method steps, algorithms, or the like may be described (in the disclosure and / or claims) in a sequential order, such processes, methods, and algorithms may be configured to operate in alternating orders. In other words, the sequence or order of steps described does not necessarily indicate that the steps must be performed in that order. Process steps described herein may be performed in any order that is practical. Additionally, some steps may be performed simultaneously.

[0033] Where a single device or article is described herein, it will be apparent that one or more devices / articles (whether or not they cooperate) may be used in place of the single device / article. Similarly, where one or more devices or articles (whether or not they cooperate) are described herein, it will be apparent that a single device / article may be used in place of the one or more devices or articles.

[0034] 1, a system for robotic navigation according to an embodiment is described. The system 100 is coupled to a platform 101. In a space application, the platform 101 can be a satellite or a space bus, or a spacecraft platform (such as a rover).

[0035] The system 100 includes a primary arm 102. The system 100 includes an end effector 104 that is operatively connected to the primary arm 102 for moving the end effector 104. The end effector 104 can be coupled to a free end of the primary arm 102. The primary arm 102 steers, moves, and positions the end effector 104. The end effector 104 can be lifted and removed by the primary arm 102.

[0036] The end effector 104 facilitates relative movement of the primary arm 102 with respect to the object 106 for binding and / or grasping. The object 106 may be mounted to a body such as a spacecraft. The object 106 is, for example, a fixed object that the primary arm 102 grasps. The object 106 may include any one or more of a tool, a module, a spacecraft, or an orbital replacement unit. The primary arm 102 includes a power system for providing power to the end effector 104. The end effector 104 receives power from the primary arm 102.

[0037] The primary arm 102 includes an attachment 108. The attachment 108 may be located at a wrist of the primary arm 102.

[0038] The system 100 includes a secondary tool 110 that is removably mounted to an attachment 108 on the primary arm 102 .

[0039] The secondary tool 110 may be a secondary arm (eg, as described with reference to FIG. 2).

[0040] The primary arm 102 includes a power system for providing power to the secondary tooling 110. The secondary tooling 110 receives power from the primary arm 102.

[0041] The secondary tool 110 may be any one or more of an on-orbit replacement unit, a camera, a lighting system, or a lookout instrument. The secondary tool 110 may itself be an end effector of an on-orbit replacement unit. The on-orbit replacement unit and the lookout instrument may have multiple functions. The secondary tool 110 may be an end effector, an instrument, a replacement control moment gyroscope, a power converter, a replacement actuator, or an inspection package. The secondary tool 110 may free up the primary arm 102 to perform other tasks.

[0042] The system 100 includes a controller 112 that executes control software for controlling the operation of the primary arm 102. The controller 112 may control the operation and movement of both the primary arm 102 and the secondary tooling 110.

[0043] The primary arm 102 includes a first boom 114-1 and a second boom 114-2. The primary arm 102 includes a first joint 116-1 connecting the platform 101 and the first boom 114-1. The primary arm 102 includes a second joint 116-2 connecting the first boom 114-1 and the second boom 114-2. The primary arm 102 includes a third joint 116-3 connecting the second boom 114-2 and the end effector 104.

[0044] The controller 112 controls the movement (e.g., rotation) of the joints 116-1, 116-2, and 116-3, thereby enabling controlled movement of the primary arm 102, and ultimately the alignment device 104 and secondary tooling 110. The primary arm 102 and controller 112 are communicatively connected, the connection being represented as a dashed line between the primary arm 102 and the controller 112. The secondary tooling 110 receives commands from the controller 112. The end effector 104 receives commands from the controller 112. The primary arm 102 may be manually steered and managed (e.g., by an operator).

[0045] The controller 112 controls the secondary tooling 110, a single operating system of the primary arm 102, thereby eliminating the need for a separate control system for the secondary tooling 110. The primary arm 102 is capable of supporting power and data for the secondary tooling 110. As the control system 112 compensates for the larger and more complex structure of both the primary arm 102 and the secondary tooling 110, the controller 112 of the primary arm 102 is operable to make changes in order to function effectively.

[0046] 2, a system 200 for robotic manipulation according to an embodiment is illustrated. The system 200 includes a primary arm 202 and a secondary arm 204 attached to the primary arm 202.

[0047] System 200 may be a dexterous robotic system for operations in space. System 200 includes a primary arm 202 that may be repositionable. System 200 allows secondary arm 204 to be removed for maintenance.

[0048] The primary arm 202 is coupled to a first location 206 on a platform. In a space-based application, the platform may be a satellite, or a space bus, or a spacecraft platform (e.g., a rover). The primary arm 202 typically has seven degrees of freedom. The primary arm 202 may have other numbers of degrees of freedom.

[0049] The primary arm 202 includes a first end effector 208 operable to connect the primary arm 202 to a first grasping fixture 210. The first grasping fixture 210 can be mounted to the platform at a first location 206. The primary arm 202 includes a second end effector 212 operable to connect the primary arm 202 to a second grasping fixture 214. The second grasping fixture 214 can be mounted to the platform at a second location 216. The primary arm 202 steers, moves, and positions the first end effector 208 and the second end effector 212 to various locations on the platform.

[0050] The primary arm 202 may be operable to rotate and walk from the first grasping fixture 210 (or the second grasping fixture 214) to another grasping fixture on the platform. A tool or secondary arm 204 connection at the wrist may allow the primary arm 202 to rotate and walk.

[0051] The first end effector 208 and the second end effector 212 may be structurally the same. The first end effector 208 and the second end effector 212 may be low-profile end effectors (such as U.S. Patent No. 6,399,433, issued August 17, 2021, and incorporated by reference in its entirety).

[0052] The first gripping fixture 210 and the second gripping fixture 214 may be structurally the same. The first gripping fixture 210 and the second gripping fixture 214 may be passive elements to be gripped. The first gripping fixture 210 and the second gripping fixture 214 may be low profile gripping fixtures (such as those described in U.S. Pat. No. 6,399,313).

[0053] The primary arm 202 includes a first boom 218 and a second boom 220. The primary arm 202 includes a first joint 222 connecting the first end effector 208 to the first boom 218. The primary arm 202 includes a second joint 224 connecting the first boom 218 and the second boom 220. The primary arm 202 includes a third joint 226 connecting the second boom 220 to the second end effector 212.

[0054] The first joint 222 comprises a three degree of freedom wrist cluster. The first joint 222 includes a first wrist revolute joint 228 for rotating the first end effector 208 relative to the first boom 218 about a first rotation axis. The first joint 222 includes a first wrist yaw joint 230 for rotating the first end effector 208 relative to the first boom 218 about a first yaw axis. The first joint 222 includes a first wrist pitch joint 232 for rotating the first end effector 208 relative to the first boom 218 about a first pitch axis.

[0055] The second joint 224 includes an elbow pitch joint that rotates the first boom 218 relative to the second boom 220 .

[0056] The third joint 226 comprises a three degree of freedom wrist cluster. The third joint 226 includes a second wrist revolute joint 234 for rotating the second end effector 212 relative to the second boom 220 about a second rotation axis. The third joint 226 includes a second wrist yaw joint 236 for rotating the second end effector 212 relative to the second boom 220 about a second yaw axis. The third joint 226 includes a second pitch joint 238 for rotating the second end effector 212 relative to the second boom 220 about a second pitch axis.

[0057] The first joint 222 and the second joint 226 may be separable (e.g., by an on-orbit operations crew). The first joint 222 and the second joint 226 may be detached from the remainder of the primary arm 202. When the system 200 is deployed in space, the first joint 222 and the second joint 226 may be passed through an airlock into the interior of the space station for maintenance.

[0058] The first end effector 208 and the second end effector 212 each include a first and second camera and lighting system 240, 242. The first and second camera and lighting systems 240, 242 are equipped with cameras and lighting that assist in machine vision and work site vision functions.

[0059] The primary arm 202 can perform tasks with long reach (eg, on the order of about 17 meters) and large tip force capabilities.

[0060] The primary arm 202 may perform a free-flyer capture of the spacecraft (e.g., object 106). The primary arm 202 may autonomously perform a free-flyer capture of the spacecraft (e.g., object 106) under the guidance of advanced control algorithms. After capture of the spacecraft, the primary arm 202 berths the spacecraft at a berthing interface on the space station (e.g., platform).

[0061] The system 200 includes an arm control unit 248 (or controller) that executes control software for control of the primary arm 202. The arm control unit 248 may control the operation and movement of both the primary arm 202 and the secondary arm 204. The arm control unit 248 may switch between controlling the primary arm 202 and the secondary arm 204. The arm control unit 248 of the primary arm 202 is operable to make changes to function effectively by compensating for the larger and more complex structure of both the primary arm 202 and the secondary arm 204.

[0062] The arm control unit 248 controls the movement (e.g., rotation) of the joints 222, 224, 226, thereby enabling controlled movement of the primary arm 202, and ultimately the end effectors 208, 212, and secondary arm 204. The primary arm 202 and arm control unit 248 are communicatively connected, which connection is represented as a dashed line between the primary arm 202 and the arm control unit 248. The secondary arm 204 receives commands from the arm control unit 248. The primary arm 202 may be manually steered and managed (e.g., by an operator).

[0063] The arm control unit 248 may be located on the primary arm 202. The arm control unit 248 may include avionics capable of controlling the primary arm 202 or the secondary arm 204, one at a time. The system 200 may include two strings with one arm control unit per string. The secondary arm 204 is controlled by the arm control unit 248 of the primary arm 202, which reduces the avionics required for the secondary arm 204.

[0064] The system 200 includes an attachment 250 for removably attaching the secondary arm 204 to the primary arm 202. The attachment 250 may be an on-orbit replacement unit interface. The attachment 250 may provide any one or more of mechanical, power, and data communication. The system 200 may include a dexterous grasping fixture 251 mounted to a dexterous grasping fixture 268, which in some embodiments may facilitate attachment / detachment of the secondary arm 204. If the secondary arm 204 is not attached to the primary arm 202, other secondary tools besides the secondary arm 204 may be attached to the attachment 250.

[0065] The attachment 250 may be provided at the wrist of the primary arm 202. The attachment 250 may be located anywhere along the length of the primary arm 202. The attachment 250 may be located on a rail system of the primary arm 202.

[0066] Primary arm 202 has a primary axis of steering 253. Secondary arm 204 has a secondary axis of steering 255. Primary axis 253 may be orthogonal to secondary axis 255. The base of secondary arm 204 may be formed by a reference frame on attachment 250, for example. The position of secondary arm 204 may depend on which mounting location is selected / designed.

[0067] The secondary arm 204 may have (7) degrees of freedom. The secondary arm 204 includes a first boom 252 and a second boom 254. The secondary arm 204 includes a first joint 256 connecting a first end effector 258 to the first boom 252. The secondary arm 204 includes a second joint 260 connecting the first boom 252 and the second boom 254. The secondary arm 204 includes a third joint 264 connecting the second boom 254 to a dexterous end effector 266.

[0068] The secondary arm 204 is mounted to the primary arm 202 via an attachment interface 250. A first end effector 258 of the secondary arm 204 is connected to a corresponding interface 268 of the attachment 250.

[0069] The dexterous end effector 266 of the secondary arm 204 is connected to a dexterous grasping fixture 268 of the lookout instrument 270. The dexterous end effector 266 provides one or more of mechanical, power, and data communication to the lookout instrument 270. The dexterous end effector 266 includes a camera and lighting system 272.

[0070] The secondary arm 204 may be installed by the on-orbit operations crew and may remain to the side of the primary arm 202 after installation.

[0071] When maintenance is required, the secondary arm 204 can be configured into a compact configuration. The operations crew can then detach the secondary arm 204 from the primary arm 202. The secondary arm 204 can be passed through an airlock into the interior of the space station for maintenance.

[0072] The secondary arm 204 may be equipped with force / moment sensors and advanced control algorithms, enabling the secondary arm 204 to perform dexterous tasks in contact with the environment, such as removing and replacing instruments on an on-orbit replacement unit.

[0073] The secondary arm 204 also extends the reach of the primary arm 202, allowing the system 200 to offload spacecraft during visits to the space station. The secondary arm 204 can access payload interfaces 244, 246 of the on-orbit replacement unit of the primary arm 202. This allows the primary arm 202 to rotate and walk around the space station, delivering the secondary arm 204 and a replacement instrument to the location of the instrument 276 that needs replacing.

[0074] The secondary arm 204 removes the observation instrument 270 and stows the observation instrument 270 onto the on-orbit replacement unit interface 244 on the primary arm's boom 218. The secondary arm 204 then retrieves a replacement observation instrument 270 from the on-orbit replacement unit 246 on the second primary arm's boom 220 and installs the observation instrument 270 on the space station in place of the observation instrument 270 that was just removed. The system 200 then picks up the removed observation instrument 270 and places it in the airlock or stows it aboard the visiting spacecraft.

[0075] Referring to FIG. 3, a method 300 for installation and removal of a secondary arm according to an embodiment is illustrated.

[0076] At 302, the primary arm (e.g., primary arm 202) and the secondary arm (e.g., secondary arm 204) are launched simultaneously. The launch package may allow the secondary arm to be launched already attached to the primary arm via the on-orbit replacement unit interface. The secondary arm may be physically separated from the primary arm in the launch package. The secondary arm may be launched separately on a later flight. If the secondary arm is not already attached to the primary arm at launch, the launch restraint is released by a ground or space station task command after reaching orbit. This leaves the secondary arm anchored to the launch package at its base via the on-orbit replacement unit interface, through which it receives keep alive power. The secondary arm is now ready to be removed from the launch package by the task crew.

[0077] At 304, the work crew attaches a handling tool to the handling fixture at the base of the secondary arm and attaches a tether to the base of the secondary arm. The work crew then mechanically and electrically releases the secondary arm from the launch package of the on-orbit replacement unit interface (e.g., by driving a single captive bolt with a pistol grip tool). The work crew then uses the handling tool to retrieve the secondary arm outside of the on-orbit replacement unit interface. The secondary arm can now be moved by the work crew via the handling tool.

[0078] At 306, the primary arm transitions to a configuration that presents an on-orbit replacement unit attachment interface for the secondary arm to the work crew. Using a handling tool, the work crew guides the base of the secondary arm into the on-orbit replacement unit interface until the secondary arm is soft-coupled. The work crew then uses a pistol grip tool to drive a single captive bolt. The secondary arm is electrically and mechanically secured to the primary arm. The work crew releases the tether and removes the handling tool.

[0079] At 308, the secondary arm is now installed and ready for work.

[0080] At 310, the secondary arm is first commanded to a compact airlock passage configuration to remove it from the primary arm for maintenance. Because the secondary arm has two strings, this operation can be performed on the better of the two strings. The work crew attaches a handling tool to the handling fixture at the base of the secondary arm and attaches a tether to the base of the secondary arm. The work crew then mechanically and electrically (e.g., by driving a single captive bolt with a pistol grip tool) releases the secondary arm from the orbital replacement unit interface of the primary arm. The work crew then uses the handling tool to retrieve the secondary arm outside of the orbital replacement unit interface. The secondary arm can now be moved by the work crew via the handling tool to the space station airlock, the secondary arm is installed into the orbital replacement unit interface for passage into the internal pressurized environment, and the secondary arm can be repaired at 312.

[0081] Once the secondary arm has been repaired, it is returned to the vacuum environment through the airlock and the operations crew removes the secondary arm from the on-orbit replacement unit interface and then installs the secondary arm back onto the primary arm following the steps previously described with reference to 304 through 308.

[0082] As shown in Figure 4A, operational access by crew members 402 to the interior of a bell jar airlock 404 (e.g., a Bishop airlock) may be limited depending on the diameter of the airlock 404. The airlock 404 may include a non-contact area 406 at the opening 408 where the interface features reside. As shown in Figure 4B, the diameter of the airlock may result in a volume that is too small for the operational crew 402 to enter.

[0083] As shown in Figure 5A, a work station interface socket 502 may be added to the outside of an airlock 504 to accommodate an astronaut portable foot restraint device 506 for operational access by a crew member 508 as shown in Figure 3. Additional operational handles may be required to aid operational entry into the astronaut portable foot restraint device 506.

[0084] 5B, a sliding table mechanism 510 may be added to the airlock 504 to store equipment 512 within reach of the crewmember 508. The sliding table mechanism 510 may be motorized and driven from the space station. The sliding table mechanism 510 may be a passive mechanism that provides an external drive bolt that the crewmember actuates using a pistol grip tool.

[0085] Referring to FIG. 6, a system 600 for robotic navigation is illustrated, according to an embodiment.

[0086] System 600 includes a primary arm 602 (e.g., primary arm 202) and a secondary arm 604 (e.g., secondary arm 604). Primary arm 602 hosts secondary arm 604. Primary arm 602 is coupled to secondary arm 604 by an on-orbit replacement unit interface 606. Primary arm 602 provides storage 608, 610 for at least two instruments. In some embodiments, secondary arm 604 is less than half the size of primary arm 602. Secondary arm 604 may be the same size as primary arm 602.

[0087] The secondary arm 604 is installed and removed from the primary arm 602 via an on-orbit replacement unit interface 606 via a spacewalk.

[0088] The secondary arm 604 is operationally hosted by the primary arm 602. The secondary arm 604 is controlled by the avionics of the primary arm 602. The secondary arm 604 has access to instrument storage locations 608, 610 on the boom of the primary arm 602.

[0089] The combined primary and secondary arm system 600 implements a method for removal of an on-orbit replacement unit and replacement of an observational payload 612. The replacement on-orbit replacement unit reaches the visiting spacecraft 614 or passes through an airlock to the exterior of the space station. To retrieve the replacement on-orbit replacement unit (observational payload 612) from the visiting spacecraft 614, the primary arm 602 rotates and walks through the working position of the low-profile grasping fixture 616 (if necessary) until it reaches the low-profile grasping fixture 616 positioned to access the observational payload 612 stored on the visiting spacecraft 614. The primary arm 602 positions itself so that the secondary arm 604 can access the stored observational payload 612 of the visiting spacecraft 614. The secondary arm 604 retrieves a new on-orbit replacement unit (observation instrument 612) from a storage location 618 of the visiting spacecraft 614, for example by gripping a dexterous grasping fixture (e.g., as described in PCT / CA2022 / 051842, published June 22, 2023 as PCT / CA2022 / 051842, which is incorporated herein by reference in its entirety) using a dexterous end effector. The torque of the dexterous end effector is used to release the constrained on-orbit replacement unit. The secondary arm 604 then stores the replacement on-orbit replacement unit (observation instrument 612) in a storage location (e.g., 608, 610) of the primary arm 602.

[0090] The primary arm 602 then rotates and walks to a low profile gripping fixture well positioned for access to the on-orbit replacement unit 612 to be removed and replaced, and positions the secondary arm 604 to access the work site. The secondary arm 604 removes the on-orbit replacement unit 612. The primary arm 602 then reconfigures as necessary to bring its storage location (608, 610) within reach of the secondary arm 604. The secondary arm 604 stores the failed on-orbit replacement unit 612 in the primary arm 602. The primary arm 602 reconfigures itself, allowing the secondary arm 604 to retrieve the replacement on-orbit replacement unit 612 from the storage location (e.g., 608, 610) of the primary arm 602. The secondary arm 604 retrieves the replacement on-orbit replacement unit 612. The primary arm 602 then moves the secondary arm 604 to access the work site. The secondary arm 604 places the replacement on-orbit replacement unit 612 at the work site and secures the on-orbit replacement unit 612 .

[0091] System 600 then moves back the low profile grasping fixture that provided access to visiting spacecraft 616. Secondary arm 604 stores the failed on-orbit replacement unit 612 on the visiting spacecraft 614 for return to Earth.

[0092] If a replacement on-orbit replacement unit 612 is available through the airlock, the same operational steps as above are performed, except that the primary arm 602 moves to the airlock's work location at the start and end of the visit, rather than to the spacecraft's work location during the visit.

[0093] This system and operating concept is based on an approach used to operate a combination of primary arm 602 and secondary arm 604 used for on-orbit repairs. The system, method, and device may include any one or more of the elements described herein, including using a common computer and control software that controls the primary arm and allows control to switch to control the secondary arm 604, thereby saving on avionics costs and commonly supporting one computer controlling the arms of two systems.

[0094] The systems, methods, and devices may include any one or more of the elements described herein, including accessing the observation equipment storage locations 608, 610 on the primary arm 602 without additional attachments or device storage, thereby accommodating storage of the observation equipment and providing keep alive power to those observation equipment. Once the observation equipment is on the primary arm 602, the system 600 transports the observation equipment with the system 600 as the primary arm 602 advances.

[0095] The systems, methods, and devices may include any one or more elements described herein, including the step of bringing the secondary arm 604 into and / or out of the airlock by a work crew, if the airlock is a Bishop-type airlock.

[0096] Although the above description provides examples of one or more devices, methods, or systems, it will be understood that other devices, methods, or systems as contemplated by those of ordinary skill in the art may be within the scope of the claims. [Explanation of symbols]

[0097] 100 ···System 101 ···Platform 102 Primary arm 104 End effector 106 Object 108 Attachment 110...Secondary tool 112 Controller 114-1: The First Boom 114-2 The second boom 116-1: First joint 116-2: Second joint 116-3: Third joint 200 ···System 202 Primary arm 204 Secondary arm 206 1st position 208 First end effector 210 First Grasping Fixture 212 Second end effector 214 Second Grasping Fixture 216 2nd position 218 - The first boom 220 Second Boom 222 First Joint 224 Second Joint 226 Third Joint 228 First wrist revolute joint 230 First wrist yaw joint 232 First wrist pitch joint 234 Second wrist rotation joint 236 Second wrist yaw joint 238 Second pitch joint 240 First camera and lighting system 242 Second Camera and Lighting System 248 Arm control unit 250 ···Attachment 252 First Boom 253...Primary axis 254 The Second Boom 255...Secondary axis 256 First Joint 258 First end effector 260 Second Joint 264 Third Joint 266 End effector 268 ···Interface 270 Observation equipment 272 Camera and Lighting Systems 402 Work crew 404 Airlock 406...Non-contact area 502 Workshop Interface Socket 504 Airlock 506 Portable foot restraint device 508 ···Crew Member 510 Slide table mechanism 512...Equipment 600 ···System 602 Primary arm 604 Secondary Arm 606: On-orbit Replacement Unit Interface 608, 610 Storage location 612 Observation equipment 614: Spaceship 616...Grasping fixture 618 Storage location

Claims

1. 1. A system for maneuvering a robot, comprising: a primary arm having two arm links; Secondary tools and an attachment for mounting the secondary tool on the primary arm; a controller for the primary arm for operating the secondary tool; The system comprises:

2. The system of claim 1 , wherein the attachment is attached to a wrist of the primary arm.

3. The system of claim 2 , wherein the secondary tool is a secondary arm.

4. The system of claim 3 , wherein the primary arm is operable to walk rotationally on a platform from a first gripping fixture to another gripping fixture.

5. The primary arm includes: a first end effector operable to connect the primary arm to a first grasping fixture; a second end effector operable to connect the primary arm to a second grasping fixture; Including, The system of claim 4 , wherein the primary arm steers the first end effector and the second end effector to different locations on a platform.

6. The primary arm includes: a first boom and a second boom; a first joint connecting the first end effector to the first boom, the first joint including a three degree of freedom wrist cluster; a second joint connecting the first boom to the second boom, the second joint including a three degree of freedom wrist cluster; a third joint connecting the second boom to the second end effector; The system of claim 5 , comprising:

7. 7. The system of claim 6, wherein the first boom and the second boom include first and second on-orbit replacement unit interfaces, the first and second on-orbit replacement unit interfaces providing one or more of mechanical items, power, and data to objects they interact with.

8. The system of claim 1 , wherein the controller of the primary arm is operable to compensate for larger and more complex configurations including both the primary arm and the secondary tooling.

9. The system of claim 2 , wherein the secondary arm has seven degrees of freedom and the primary arm has seven degrees of freedom.

10. 4. The system of claim 3, wherein the secondary arm comprises a grasping fixture for interacting with a survey instrument, the grasping fixture transmitting any one or more of mechanical, electrical, and data transmission to the survey instrument.

11. The system of claim 3 , wherein the primary arm has a primary axis of steering and the secondary arm has a secondary axis of steering, the primary axis being orthogonal to the secondary axis.

12. The system of claim 1 , wherein the secondary tool is one or more of an on-orbit replaceable unit, a camera, a lighting system, and a survey instrument.

13. The system of claim 1 , wherein the secondary tool is one or more of an end effector, an instrument, a replacement control moment gyroscope, a power converter, a replacement actuator, and an inspection package.

14. 2. The system of claim 1, wherein the first joint and the second joint are removable from the primary arm and pass through an airlock into an interior of a space station for maintenance.

15. 1. A method for installing a secondary arm on a primary arm, comprising: retrieving the secondary arm from storage; fastening the secondary arm to the primary arm; operating the secondary arm using a controller of the primary arm; The method includes:

16. The method of claim 15 further comprising the step of firing the primary arm and the secondary arm.

17. 16. The method of claim 15, further comprising mechanically and electrically disengaging the secondary arm from a launch package of an on-orbit replacement unit interface.

18. The method of claim 15 further comprising the step of detaching the secondary arm from the primary arm.

19. The method of claim 18 , further comprising servicing the secondary arm after removing the secondary arm from the primary arm.

20. 16. The method of claim 15, further comprising using the secondary arm to remove an on-orbit replacement unit to replace a sounding instrument.

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