Das Manipulatorsystem des experimentellen Servicing Satelliten ESS.

Das Manipulatorsystem des Experimentellen Servicing Satelliten ESS

The space robot technology experiment ROTEX on spacelab-D2

The telerobotic concepts as presently developed for a space robot technology experiment ROTEX to fly with the next spacelab mission D2 in 1993 are outlined; the robot is supposed to work in an autonomous mode, teleoperated by astronauts, and teleoperated from ground. One of its key hardware features is a recently developed multisensory gripper and a light-weight robot concept with new joint drives and grid-structure compostie arms for the astronaut training on ground. 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

Control Structures in Sensor-Based Telerobotic Systems

In the paper the most relevant concepts in telerobotics, mainly seen from the viewpoint of control structures are outlined. Pure positional master-slave-systems are compared with bilateral force-reflecting systems and systems that provide local autonomy e.g.via active compliance. The problem of delay-compensation using predictive computer graphics is outlined. A space robot technology experiment that contains many of the ideas presented is briefly discussed

ROTEX - space telerobotic flight experiment

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

Sensorbased space robotics - ROTEX and its telerobotic features

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.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 for shared autonomy. The corresponding man-machine interface concepts using a 6 dof non-force-reflecting control 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

Simulation of Manipulator Deployment and Satellite Capturing Dynamics

Capturing of a non-cooperative, free-floating target satellite in geostationary orbit by means of a robotic-based servicing satellite system is an extremely challenging task involving complex operational mission manoeuvers such as sensor-based rendezvousing, visual inspection, final approach, capturing and stabilization. Intensive simulations of the dynamic interactions between all parts of the complete system, i.e. chaser and target satellite and a flexible manipuator system in between of both, are therfore required in order toevaluate the final approach phase and the capturing strategies and to design the attitude control system (ACS) of the chaser satellite. A multibody system dynamics simulation tool with O(n) formalism including flexible dynamic influences has been used for these tasks. The off- line simulationsproved successfully for supporting efficiiently the ACS design

Multisensory shared autonomy - a key issue in the space robot technology experiment ROTEX

The space robot technology experiment ROTEX to fly with the next spacelab mission D2 in January 1993 provides a multisensory robot which is supposed to work in an autonomous mode, teleoperated by astronauts, as well as in different telerobotic ground control modes.These include on-line teleoperation and telesensorprogramming, a task-level oriented programming technique involving `learning by showing'concepts in a virtual environment. The robot's key features are its multisensory gripper and the local sensory feedback schemes which are the basis for shared autonomy. The corresponding man-machine interface concepts using a 6 dof non- force-reflecting control ball and visual feedback to the human operator are explained.Stereographic simulation on ground is supposed to predict even the sensor based path refinement on board, while realtime fusion of stereo images and laser range information helps to predict the motion of floating objects to be grapsed from ground, too. Other prototype tasks to be performed by this space robot are the assembly of a truss structure and connecting/ disconnecting an electrical plug (orbit replaceable unit exchange ORU)