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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), 01.-05-2012018, 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 iD
Beyer, AlexanderAlexander.Beyer (at) dlr.dehttps://orcid.org/0000-0003-2501-0814
Grunwald, GerhardGerhard.Grunwald (at) dlr.deUNSPECIFIED
Heumos, MartinMartin.Heumos (at) dlr.deUNSPECIFIED
Schedl, ManfredManfrad.Schedl (at) dlr.deUNSPECIFIED
Bayer, Ralphralph.bayer (at) dlr.deUNSPECIFIED
Bertleff, WielandWieland.Bertleff (at) dlr.deUNSPECIFIED
Brunner, BernhardBernhard.Brunner (at) dlr.deUNSPECIFIED
Burger, Robertrobert.burger (at) dlr.deUNSPECIFIED
Butterfaß, JörgJoerg.Butterfass (at) dlr.deUNSPECIFIED
Gruber, RobinRobin.Gruber (at) dlr.deUNSPECIFIED
Gumpert, ThomasThomas.Gumpert (at) dlr.deUNSPECIFIED
Hacker, FranzFranz.Hacker (at) dlr.dehttps://orcid.org/0000-0003-1913-8379
Krämer, ErichErich.Kraemer (at) dlr.deUNSPECIFIED
Maier, Maximilianmaximilian.maier (at) dlr.dehttps://orcid.org/0000-0003-1502-696X
Moser, SaschaSascha.Moser (at) dlr.deUNSPECIFIED
Reill, JosefJosef.Reill (at) dlr.dehttps://orcid.org/0000-0003-4092-063X
Roa Garzon, Máximo AlejandroMaximo.Roa (at) dlr.dehttps://orcid.org/0000-0003-1708-4223
Sedlmayr, Hans-Jürgenhans-juergen.sedlmayr (at) dlr.dehttps://orcid.org/0000-0003-1180-3960
Seitz, NikolausNikolaus.Seitz (at) dlr.deUNSPECIFIED
Stelzer, MartinMartin.Stelzer (at) dlr.deUNSPECIFIED
Stemmer, Andreasandreas.stemmer (at) dlr.deUNSPECIFIED
Tubio Manteiga, GabrielGabriel.TubioManteiga (at) dlr.deUNSPECIFIED
Wimmer, TilmanTilman.Wimmer (at) dlr.deUNSPECIFIED
Grebenstein, MarkusMarkus.Grebenstein (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Albu-Schäffer, Alin OlimpiuAlin.Albu-Schaeffer (at) dlr.deUNSPECIFIED
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 Dates:01.-05-2012018
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.rer.nat. Gerhard
Deposited On:03 Dec 2018 13:13
Last Modified:25 Mar 2022 14:05

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