ROKVISS - Robotics Component Verification on ISS Current Experimental Results on Parameter Identification
Albu-Schäffer, Alin and Bertleff, Wieland and Rebele, Bernhard and Schäfer, Bernd and Landzettel, Klaus and Hirzinger, Gerd (2006) ROKVISS - Robotics Component Verification on ISS Current Experimental Results on Parameter Identification. In: Proceedings of the ICRA-2006 IEEE International Conference on Robotics and Automation, pp. 3879-3884. ICRA 2006, Orlando, FL (USA).
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ROKVISS, the German new space robotics technology experiment, was successfully installed outside at the Russian Service Module of the Inernational Space Station (ISS) during an extravehicular space walk at the end of January 2005. Since February 2005 a two joint manipulator can be operated from ground via a direct radio link (Fig. 1). The aim of ROKVISS is the in flight verification of highly integrated modular robotic joints as well as the demonstration of difffernt control modes, reaching from high system autonomy to force feedback teleopertion. A main goal of the experiment is the evaluation of the dynamical parameters (especially friction, motor constant and stiffness), as well as the monitoring of their evolution over the duration of the mission, in order to validate the long term performance of the system. The paper gives first a short overview of the experiment and in particular a description of the applied control structures. The main focus of the paper is on the joint parameter identifiction results obtained so far, during one year of operation.
|Document Type:||Conference or Workshop Item (Speech, Paper)|
|Title:||ROKVISS - Robotics Component Verification on ISS Current Experimental Results on Parameter Identification|
|Journal or Publication Title:||Proceedings of the ICRA-2006 IEEE International Conference on Robotics and Automation|
|In ISI Web of Science:||No|
|Page Range:||pp. 3879-3884|
|Event Title:||ICRA 2006|
|Event Location:||Orlando, FL (USA)|
|Event Type:||international Conference|
|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 - Vorhaben ROKVISS (old)|
|Institutes and Institutions:||Institute of Robotics and Mechatronics > Robotic Systems|
|Deposited By:||Monika Klauer|
|Deposited On:||20 Oct 2008|
|Last Modified:||27 Apr 2009 14:20|
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