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CAESAR: Space Robotics Technology for Assembly, Maintenance, and Repair

Beyer, Alexander and Grunwald, Gerhard and Heumos, Martin and Schedl, Manfred and Bayer, Ralph and Bertleff, Wieland and Brunner, Bernhard and Burger, Robert and Butterfaß, Jörg and Gruber, Robin and Gumpert, Thomas and Hacker, Franz and Krämer, Erich and Maier, Maximilian and Moser, Sascha and Reill, Josef and Roa Garzon, Máximo Alejandro and Sedlmayr, Hans-Jürgen and Seitz, Nikolaus and Stelzer, Martin and Stemmer, Andreas and Tubio Manteiga, Gabriel and Wimmer, Tilman and Grebenstein, Markus and Ott, Christian and Albu-Schäffer, Alin Olimpiu (2018) CAESAR: Space Robotics Technology for Assembly, Maintenance, and Repair. In: Proceedings of the International Astronautical Congress, IAC. 69th International Astronautical Congress (IAC), 2018-10-01 - 2018-10-05, Bremen. ISSN 0074-1795.

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Abstract

The Compliant Assistance and Exploration SpAce Robot (CAESAR) is DLR's consistent continuation in the development of force/torque controlled robot systems. The basis is DLR’s world-famous light-weight robot technology (LWR III) which was successfully transferred to KUKA, one of the world’s leading suppliers of robotics. CAESAR is the space qualified equivalent to the current service robot systems for manufacturing and human-robot cooperation. It is designed for a variety of on-orbit services e.g. assembly, maintenance, repair, and debris removal in LEO/GEO. The dexterity and diversity of CAESAR will push the performance of space robotics to the next level in a comparable way as the current intelligent and sensor based service robots changed robotics on earth.

Item URL in elib:https://elib.dlr.de/122123/
Document Type:Conference or Workshop Item (Speech)
Title:CAESAR: Space Robotics Technology for Assembly, Maintenance, and Repair
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Beyer, AlexanderUNSPECIFIEDhttps://orcid.org/0000-0003-2501-0814UNSPECIFIED
Grunwald, GerhardUNSPECIFIEDhttps://orcid.org/0000-0002-9306-1616UNSPECIFIED
Heumos, MartinUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Schedl, ManfredUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Bayer, RalphUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Bertleff, WielandUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Brunner, BernhardUNSPECIFIEDhttps://orcid.org/0009-0002-8459-7934UNSPECIFIED
Burger, RobertUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Butterfaß, JörgUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Gruber, RobinUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Gumpert, ThomasUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Hacker, FranzUNSPECIFIEDhttps://orcid.org/0000-0003-1913-8379UNSPECIFIED
Krämer, ErichUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Maier, MaximilianUNSPECIFIEDhttps://orcid.org/0000-0003-1502-696XUNSPECIFIED
Moser, SaschaUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Reill, JosefUNSPECIFIEDhttps://orcid.org/0000-0003-4092-063XUNSPECIFIED
Roa Garzon, Máximo AlejandroUNSPECIFIEDhttps://orcid.org/0000-0003-1708-4223UNSPECIFIED
Sedlmayr, Hans-JürgenUNSPECIFIEDhttps://orcid.org/0000-0003-1180-3960UNSPECIFIED
Seitz, NikolausUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Stelzer, MartinUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Stemmer, AndreasUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Tubio Manteiga, GabrielUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Wimmer, TilmanUNSPECIFIEDhttps://orcid.org/0009-0001-4625-9726UNSPECIFIED
Grebenstein, MarkusUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Albu-Schäffer, Alin OlimpiuUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115756
Date:2 October 2018
Journal or Publication Title:Proceedings of the International Astronautical Congress, IAC
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
ISSN:0074-1795
Status:Published
Keywords:Space Robotics, Impedance Control, Vibration Damping, Assembly, Maintenance, Debris Removal
Event Title:69th International Astronautical Congress (IAC)
Event Location:Bremen
Event Type:international Conference
Event Start Date:1 October 2018
Event End Date:5 October 2018
Organizer:International Astronautical Federation (IAF).
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):On-Orbit Servicing (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Grunwald, Dr. Gerhard
Deposited On:03 Dec 2018 13:13
Last Modified:24 Apr 2024 20:26

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