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

Wei, R. and Jin, M.H. and Xia, J.J. and Xie, Z.W. and Shi, J.X. and Liu, Hong (2006) High Fidelity Distributed Hardware-in-the-Loop Simulation For Space Robot on CAN-based Network. In: Proceedings. IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS, RSJ International Conference on Intelligent Robots and Systems, 2006-10-09 - 2006-10-15, Beijing, China.

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Abstract

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.

Item URL in elib:https://elib.dlr.de/45447/
Document Type:Conference or Workshop Item (Paper)
Title:High Fidelity Distributed Hardware-in-the-Loop Simulation For Space Robot on CAN-based Network.
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Wei, R.Harbin Institute of Technology, HIT, ChinaUNSPECIFIEDUNSPECIFIED
Jin, M.H.Harbin Institute of Technology, HIT, ChinaUNSPECIFIEDUNSPECIFIED
Xia, J.J.Harbin Institute of Technology, HIT, ChinaUNSPECIFIEDUNSPECIFIED
Xie, Z.W.Harbin Institute of Technology, HIT, ChinaUNSPECIFIEDUNSPECIFIED
Shi, J.X.Harbin Institute of Technology, HIT, ChinaUNSPECIFIEDUNSPECIFIED
Liu, HongUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Date:9 October 2006
Journal or Publication Title:Proceedings
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Publisher:IEEE/RSJ International Conference on Intelligent Robots and Systems
Status:Published
Keywords:space robot, modular joint, OBC, gripper
Event Title:IROS, RSJ International Conference on Intelligent Robots and Systems
Event Location:Beijing, China
Event Type:international Conference
Event Start Date:9 October 2006
Event End Date:15 October 2006
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > Robotic Systems
Deposited By: Beinhofer, Gabriele
Deposited On:31 Aug 2007
Last Modified:24 Apr 2024 19:07

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