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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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Abstract

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
Authors:
AuthorsInstitution or Email of Authors
Albu-Schäffer, AlinUNSPECIFIED
Bertleff, WielandUNSPECIFIED
Rebele, BernhardUNSPECIFIED
Schäfer, BerndUNSPECIFIED
Landzettel, KlausUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Date:2006
Journal or Publication Title:Proceedings of the ICRA-2006 IEEE International Conference on Robotics and Automation
Refereed publication:Yes
In ISI Web of Science:No
Page Range:pp. 3879-3884
Status:Published
Keywords:-
Event Title:ICRA 2006
Event Location:Orlando, FL (USA)
Event Type:international Conference
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 - Vorhaben ROKVISS (old)
Location: Oberpfaffenhofen
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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