Hirzinger, G. and Landzettel, K. and Heindl, J. (1993) ROTEX - space telerobotic flight experiment. In: Proc. SPIE International Symposium "Optical Tools for Manufacturing and Advanced Automation". Boston/Mass., Sept. 7-10, 1993 Vortragender: Landzettel, K..
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Abstract
In early 93 the space robot technology experiment ROTEX has flown with space-shuttle COLUMBIA. A multisensory robot on board the spacecraft successfully worked in autonomous modes, teleoperated by astronauts, as well as in different telerobotic ground control modes, teleoperated by astronauts, as well as in different telerobotic ground control modes. These include on-line teleoperation and tele-sensor-programming, a task-level oriented programming technique involving "learning by showing" concepts in a virtual environment. The robot's key features were its multisensory gripper and the local sensory feedback schemes which are the basis f. shared autonomy. The corresponding man-machine interface concepts using a 6 dof non-force-reflecting controll ball and visual feedback to the human operator are explained. Stereographic simulation on ground was used to predict not only the robot's free motion but even the sensor based path refinement on board.
Item URL in elib: | https://elib.dlr.de/28045/ | ||||||||||||
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Document Type: | Conference or Workshop Item (Paper) | ||||||||||||
Additional Information: | LIDO-Berichtsjahr=1993, pages=22, | ||||||||||||
Title: | ROTEX - space telerobotic flight experiment | ||||||||||||
Authors: |
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Date: | 1993 | ||||||||||||
Journal or Publication Title: | Proc. SPIE International Symposium "Optical Tools for Manufacturing and Advanced Automation" | ||||||||||||
Open Access: | No | ||||||||||||
Gold Open Access: | No | ||||||||||||
In SCOPUS: | No | ||||||||||||
In ISI Web of Science: | No | ||||||||||||
Status: | Published | ||||||||||||
Event Title: | Boston/Mass., Sept. 7-10, 1993 Vortragender: Landzettel, K. | ||||||||||||
HGF - Research field: | UNSPECIFIED | ||||||||||||
HGF - Program: | Space (old) | ||||||||||||
HGF - Program Themes: | W SY - Technik für Raumfahrtsysteme | ||||||||||||
DLR - Research area: | UNSPECIFIED | ||||||||||||
DLR - Program: | W SY - Technik für Raumfahrtsysteme | ||||||||||||
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 06:52 |
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