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Sensor Controlled Space Robots

Hirzinger, G. and Dietrich, J. and Brunner, B. (1991) Sensor Controlled Space Robots. In: Proc. SPACE COURSE Aachen. SPACE COURSE Aachen, RWTH Aachen, 18.02-08.03.1991.

Full text not available from this repository.


The telerobotic concepts as presently developed for a space robot technology experiment ROTEX to fly with the next spacelab mission D2 in 1992 are outlined; the robot is supposed to work in an autonomous mode, teleoperated by astronauts, and teleoperated from ground. One of its key features is a recently developed multisensory gripper with highly integrated, miniaturized sensor technology including stiff and compliant six-axis force-torque-sensing, 9 laser range finders, tactile arrays, grasp force control using a new electrical gripper drive and a stereo camera pair. Sensory feedback schemes and man-machine interface concepts using a 6 dof control ball and stereo imaging is explained. Sensory simulation on ground using advanced stereo graphics is supposed to predict the sensor based path refinement on board, while realtime fusion of stereo images and laserscan information helps to predict the motion of floating objects to be grasped. Finally a light-weight robot concept with new intelligent joint drives and grip-structure composite arms for the astronaut training onground is discussed.

Item URL in elib:https://elib.dlr.de/27862/
Document Type:Conference or Workshop Item (Paper)
Additional Information: LIDO-Berichtsjahr=1991, pages=19,
Title:Sensor Controlled Space Robots
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Journal or Publication Title:Proc. SPACE COURSE Aachen
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Event Title:SPACE COURSE Aachen, RWTH Aachen, 18.02-08.03.1991
HGF - Research field:UNSPECIFIED
HGF - Program:other
HGF - Program Themes:other
DLR - Research area:UNSPECIFIED
DLR - Program:no assignment
DLR - Research theme (Project):UNSPECIFIED
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > Institut für Dynamik der Flugsysteme
Deposited By: DLR-Beauftragter, elib
Deposited On:02 Apr 2006
Last Modified:27 Apr 2009 06:47

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