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HIROSCO - A High-Level Robotic Spacecraft Controller

Stelzer, Martin and Brunner, Bernhard and Landzettel, Klaus and Steinmetz, Bernhard-Michael and Vogel, Jörg and Hirzinger, Gerd (2010) HIROSCO - A High-Level Robotic Spacecraft Controller. The 10th International Symposium on Artificial Intelligence, Robotics and Automation in Space, 29. Aug. - 1. Sep. 2010, Sapporo, Japan.

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Abstract

This paper presents a high-level control architecture for robotic spacecrafts. The design of this architecture focuses on future On-Orbit Servicing missions. Part of it is a component framework that improves software reuse in space applications and enables real-time communication between different components of a satellite which is essential for on-orbit servicing. Further, this architecture supports online reconfiguration of the components, resource management and a distribution of the components across a network. A supervisor monitors and coordinates all attached components. A prototype was successfully tested with a two axis robot and a force-reflecting joystick in a telepresence scenario.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:HIROSCO - A High-Level Robotic Spacecraft Controller
Authors:
AuthorsInstitution or Email of Authors
Stelzer, MartinUNSPECIFIED
Brunner, BernhardUNSPECIFIED
Landzettel, KlausUNSPECIFIED
Steinmetz, Bernhard-MichaelUNSPECIFIED
Vogel, JörgUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Date:30 August 2010
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:spacecraft controller, On-Orbit Servicing, HIROSCO
Event Title:The 10th International Symposium on Artificial Intelligence, Robotics and Automation in Space
Event Location:Sapporo, Japan
Event Type:international Conference
Event Dates:29. Aug. - 1. Sep. 2010
Organizer:JAXA
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 - Leistungszentrum Robotik - Mobilität und Exploration (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics
Deposited By: Martin Stelzer
Deposited On:16 Dec 2010 15:24
Last Modified:12 Dec 2013 21:09

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