High Fidelity Distributed Hardware-in-the-Loop Simulation For Space Robot on CAN-based Network.
Wei, R. and Jin, M.H. and Xia, J.J. and Xie, Z.W. and Shi, J.X. and Liu, Hong (2006) High Fidelity Distributed Hardware-in-the-Loop Simulation For Space Robot on CAN-based Network. 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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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:||High Fidelity Distributed Hardware-in-the-Loop Simulation For Space Robot on CAN-based Network.|
|Date:||09 October 2006|
|Journal or Publication Title:||Proceedings|
|In ISI Web of Science:||No|
|Publisher:||IEEE/RSJ International Conference on Intelligent Robots and Systems|
|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|
|HGF - Research field:||Aeronautics, Space and Transport|
|HGF - Program:||Space|
|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)|
|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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