High Fidelity Distributed Hardware-in-the-Loop Simulation For Space Robot on CAN-based Network.

Kurzfassung

This paper gives an overview of the Chinese Intelligent Space Robotic System. The system consists of a 6 DOF robot arm, a large-error tolerated gripper with two stereo cameras and onboard computer. The robot arm is composed of six identical modular joints, a big central hole in the modular joint was designed for the placement of the cables and plugs in the robot arm, which prevented them from damage of high temperature, radiation in the space environment and the motion of the robot. Joint torque sensor, joint position sensor and temperature sensors etc.. were integrated into the fully modular multi-sensory joint, which made the joint more intelligent. Also, a large-error tolerated gripper with two stereo cameras has been also designed to capture a micro target satellite(MTS). A fault-tolerant onboard computer(OBC) with dual processing modules has been developed for the robot control. A zero gravity experimental system was developed to verify the functions of the robot arm under zero gravity environment.