Many of the operations performed at the Kennedy Space Center (KSC) are dangerous and repetitive tasks which make them ideal candidates for robotic applications. For one specific application, KSC is currently in the process of designing and constructing a robot called the Automated Radiator Inspection Device (ARID), to inspect the radiator panels on the orbiter. The following aspects of the ARID project are discussed: modeling of the ARID; design of control algorithms; and nonlinear based simulation of the ARID. Recommendations to assist KSC personnel in the successful completion of the ARID project are given
