Abstract: Robotic arms with orientation and grapple mechanisms for payload manipulation are provided. A robotic arm includes a mechanical arm assembly having booms connected by actively driven joints to provide pitch and yaw control at the shoulder, elbow and wrist of the arm. To reduce mass and complexity, according to various embodiments, force moment sensors and/or actuators for active roll and/or yaw control at the end of the arm may be omitted. The orienting mechanism provides the grapple mechanism with passive pitch and yaw control to pivot the grapple mechanism to grasp a payload without having to actively position the end effector to align with an axis of the payload. This enables “soft” capture of the payload by the grapple mechanism. Prior to lifting the payload, the grapple fixture is rigidized by fully retracting the grapple mechanism.

Abstract: Provided is a system and method for robotic manipulation. The system includes a primary arm having a two arm linkage, 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 removing a 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.

Abstract: Herein is disclosed a propellant transfer system and method for refueling on-orbit spacecraft. The system and method are configured to allow for resupply of spacecraft configured to be fueled by either a bipropellant (oxidizer and fuel) or a monopropellant (typically hydrazine). The system and method are particularly suited for resupply of satellites not originally prepared for refueling as well but the system may also be used for as satellites specifically designed for refueling.

Abstract: Herein is disclosed a propellant transfer system and method for refueling on-orbit spacecraft. The system and method are configured to allow for resupply of spacecraft configured to be fueled by either a bipropellant (oxidizer and fuel) or a monopropellant (typically hydrazine). The system and method are particularly suited for resupply of satellites not originally prepared for refueling as well but the system may also be used for as satellites specifically designed for refueling.

Abstract: Herein is disclosed a propellant transfer system and method for refueling on-orbit spacecraft. The system and method are configured to allow for resupply of spacecraft configured to be fueled by either a bipropellant (oxidizer and fuel) or a monopropellant (typically hydrazine). The system and method are particularly suited for resupply of satellites not originally prepared for refueling as well but the system may also be used for as satellites specifically designed for refueling.

Abstract: A mobile robotic surgical system which includes a mobile surgical robot for use in a mobile or confined environment and a control station in communication with the mobile surgical robot over a network. The mobile surgical robot includes a controller for controlling operation of the mobile surgical robot, a communications subsystem for communicating with the control station over the network, robotic surgical instruments controllable by the control station over the network, a detector subsystem for determining spatial information relating to a surgical environment of the surgical robot, and a motion stabilizer subsystem for facilitating operation of the robotic surgical instruments while the mobile environment is in motion. The controller is configured to operate a local control loop between at least one of the subsystems and the robotic surgical instruments.

Abstract: A surgical system is for use with a surgical tool and a tissue characteristic sensor associated with the surgical tool. The system has an expected tissue characteristic for tissue on a predefined trajectory of the tool in a patient, and a controller to receive a sensed tissue characteristic from the tissue characteristic sensor, such sensed tissue characteristic associated with an actual trajectory of the tool. The controller compares the expected tissue characteristic for the expected location with the sensed tissue characteristic for the actual trajectory. A robot can be used to carry out automated surgical tasks and make adjustments based on differences between the expected characteristic and the sensed characteristic.