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DLRs dynamic actuator modules for robotic space applications

Wedler, Armin and Chalon, Maxime and Landzettel, Klaus and Görner, Martin and Krämer, Erich and Gruber, Robin and Beyer, Alexander and Sedlmayr, Hans-Jürgen and Willberg, Bertram and Bertleff, Wieland and Reill, Josef and Schedl, Manfred and Albu-Schäffer, Alin and Hirzinger, Gerd (2012) DLRs dynamic actuator modules for robotic space applications. 41st Aerospace Mechanisms Symposium 2012, Passadena, USA.

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Abstract

Based on our long-term goal to develop "robonauts" for space and the experiences our research department accumulated in space robotics, this article describes recent design and development results at DLR s Robotics and Mechatronics Center. Herein, we focus on lightweight robot arms, articulated hands and highly integrated actuation modules for space applications. We show how the development process started with fully sensorized, highly dynamic joint modules with state feedback control and led to seven degree of freedom (DOF) torque-controlled robot arms that enable innovative Cartesian impedance controllers. Further, we present two space robotics examples that are based on such modular actuation units. The first one is the ROKVISS experiment which has been launched towards the ISS in 2004 and returned to earth in 2011. The second is the Dextrous Robot Hand, DEXHAND, which we developed on contract with ESA. These two projects underline the strong interest to transfer our knowledge and experience from terrestrial robotic developments to innovative space technology.

Item URL in elib:https://elib.dlr.de/81294/
Document Type:Conference or Workshop Item (Paper)
Title:DLRs dynamic actuator modules for robotic space applications
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Wedler, ArminArmin.Wedler (at) dlr.deUNSPECIFIED
Chalon, Maximemaxime.chalon (at) dlr.deUNSPECIFIED
Landzettel, KlausKlaus.Landzettel (at) dlr.deUNSPECIFIED
Görner, MartinMartin.Görner (at) dlr.deUNSPECIFIED
Krämer, ErichErich.Kraemer (at) dlr.deUNSPECIFIED
Gruber, Robin Robin.Gruber (at) dlr.deUNSPECIFIED
Beyer, AlexanderAlexander.Beyer (at) dlr.deUNSPECIFIED
Sedlmayr, Hans-JürgenHans-Juergen.Sedlmayr (at) dlr.deUNSPECIFIED
Willberg, Bertrambertram.willberg (at) dlr.deUNSPECIFIED
Bertleff, WielandWieland.bertleff (at) dlr.deUNSPECIFIED
Reill, JosefJosef.Reill (at) dlr.deUNSPECIFIED
Schedl, ManfredUNSPECIFIEDUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Hirzinger, GerdGerd.Hirzinger (at) DLR.deUNSPECIFIED
Date:2012
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Editors:
EditorsEmail
Boesiger , Edward Lockheed Martin Space
Loewenthal, Stu NASA
Status:Published
Keywords:ACTUATORS, AEROSPACE ENGINEERING, CONTROLLERS, DEGREES OF FREEDOM, END EFFECTORS, FEEDBACK CONTROL, ROBOT ARMS, ROBOTICS, TECHNOLOGY UTILIZATION, TORQUE
Event Title:41st Aerospace Mechanisms Symposium 2012
Event Location:Passadena, USA
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Robotische Explorationstechnologie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Grebenstein, Dr. sc. Markus
Deposited On:21 Feb 2013 13:10
Last Modified:13 Jul 2016 17:29

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