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Development of the Chinese Intelligent Space Robotic System.

Gao, X.H. and Jin, M.H. and Xie, Z.W. and Jiang, L. and Ni, F.L. and Shi, Sh.C. and Wei, R. and Zhu, Y.Y. and Cai, H.G. and Liu, Hong and Beyer, Alexander and Krämer, Erich and Landzettel, Klaus and Schott, Jörg and Hirzinger, Gerhard (2006) Development of the Chinese Intelligent Space Robotic System. In: Proceedings. IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS, RSJ International Conference on Intelligent Robots and Systems, 2006-10-09 - 2006-10-15, Beijing, China.

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Abstract

This paper gives an overview of the Chinese Intelligent Space Robotic System. The system consists of a 6 DOF robot arm, a large-error tolerated gripper with two stereo cameras and onboard computer. The robot arm is composed of six identical modular joints, a big central hole in the modular joint was designed for the placement of the cables and plugs in the robot arm, which prevented them from damage of high temperature, radiation in the space environment and the motion of the robot. Joint torque sensor, joint position sensor and temperature sensors etc.. were integrated into the fully modular multi-sensory joint, which made the joint more intelligent. Also, a large-error tolerated gripper with two stereo cameras has been also designed to capture a micro target satellite(MTS). A fault-tolerant onboard computer(OBC) with dual processing modules has been developed for the robot control. A zero gravity experimental system was developed to verify the functions of the robot arm under zero gravity environment.

Document Type:Conference or Workshop Item (Paper)
Title:Development of the Chinese Intelligent Space Robotic System.
Authors:
AuthorsInstitution or Email of Authors
Gao, X.H.Harbin Institute of Technology, HIT, China
Jin, M.H.Harbin Institute of Technology, HIT, China
Xie, Z.W.Harbin Institute of Technology, HIT, China
Jiang, L.Harbin Institute of Technology, HIT, China
Ni, F.L.Harbin Institute of Technology, HIT, China
Shi, Sh.C.Harbin Institute of Technology, HIT, China
Wei, R.Harbin Institute of Technology, HIT, China
Zhu, Y.Y.Harbin Institute of Technology, HIT, China
Cai, H.G.Harbin Institute of Technology, HIT, China
Liu, HongUNSPECIFIED
Beyer, AlexanderUNSPECIFIED
Krämer, ErichUNSPECIFIED
Landzettel, KlausUNSPECIFIED
Schott, JörgUNSPECIFIED
Hirzinger, GerhardUNSPECIFIED
Date:9 October 2006
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Publisher:IEEE/RSJ International Conference on Intelligent Robots and Systems
Status:Published
Keywords:space robot, modular joint, OBC, gripper
Event Title:IROS, RSJ International Conference on Intelligent Robots and Systems
Event Location:Beijing, China
Event Type:international Conference
Event Dates:2006-10-09 - 2006-10-15
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:31 Aug 2007
Last Modified:27 Apr 2009 13:14

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