The concepts and main elements of a RObot Technology EXperiment (ROTEX) proposed to fly with the next German spacelab mission, D2, are presented. It provides a 1 meter size, six axis robot inside a spacelab rack, equipped with a multisensory gripper (force-torque sensors, an array of range finders, and mini stereo cameras). The robot will perform assembly and servicing tasks in a generic way, and will grasp a floating object. The man machine and supervisory control concepts for teleoperation from the spacelab and from ground are discussed. The predictive estimation schemes for an extensive use of time-delay compensating 3D computer graphics are explained.


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    Titel :

    ROTEX-Triifex: Proposal for a Joint FRG-USA Telerobotic Flight Experiment


    Beteiligte:
    G. Hirzinger (Autor:in) / A. K. Bejczy (Autor:in)

    Erscheinungsdatum :

    1989


    Format / Umfang :

    13 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




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    Hirzinger, Gerd / Landzettel, Klaus L. / Heindl, J. | SPIE | 1993



    Sensor-based space robotics-ROTEX and its telerobotic features

    Hirzinger, G. / Brunner, B. / Dietrich, J. et al. | Tema Archiv | 1993


    MICROTREX: Micro-Telerobotic Flight Experiment

    Hannaford, B. / Venema, S. / Bejczy, A. K. et al. | British Library Conference Proceedings | 1994