JERICO: A demonstration of autonomous robotic servicing on the Mir space station

The European Space Agency (ESA) and the Italian Space Agency (ASI) are currently developing a space robot system called JERICO that is planned to be installed on the SPEKTR module of the Mir station. The JERICO robotic system will enable an in-orbit validation of critical technologies and at the same time provides unique capabilities of external payload servicing. It consists of a seven-axes robot with a sensorised end effector (force/torque and distance sensor). JERICO can perform highly repetitive, accurate and dextrous manipulation. JERICO will be operated from the ground. Its activities will be prepared on-ground, and their safe execution verified by simulation means. During the operational phase, the robot manipulation tasks will be executed either autonomously or under the supervision of the ground operator. The scientist in his users home base will receive experiment telemetry and will have the capability to interact with his payload. Once the JERICO capabilities are evaluated and demonstrated, its full exploitation will start at the end of 1998. Initially, the JERICO mission scope was targeted to an in-orbit technology demonstration, paving the way for future ESA space robotics missions. During the JERICO system definition, it became clear that robotics technology demonstration needs could be enhanced with science objectives. This is why for JERICO a full scale robotics infrastructure has been proposed, enabling synergy and end to end demonstration of robotics use for doing science in space.