The overall configuration, sensory components, actuators and telerobotic concept of the ROTEX experiment, which is to fly on the Spacelab Mission D2 in Jan. 93, are addressed. ROTEX provides a small six axis robot within a rack of Spacelab. Its multisensory gripper containing stiff and compliant wrist force torque sensors, tactile sensors, 9 laser range finders and a pair of tiny stereo cameras is the basis of the robot's local sensor based autonomy. The robot is supposed to perform different rotortype tasks like assembly of a grid structure, connecting/disconnecting electrical plugs (bajonet closure), and capturing a free floating object. With these prototype tasks ROTEX is supposed to prepare the most typical applications for the future (assembly of structures, internal and external servicing, satellite retrieval and repair etc.). Depending on joint fraction models observed on board under zero G, the joint controllers are as well adaptable from ground as the external feedback loops using self learning techniques. The robot is operated in a number of different modes, e.g., executing preprogrammed paths teleoperated by astronauts, teleoperated from ground using advanced predictive stereographics for delay compensation, ground reprogramming and telesensorprogramming based on a complete 'virtual' environment including sensory simulation.


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    Titel :

    Space Robot Technology Experiment (Rotex) on Spacelab-Mission D2


    Beteiligte:
    G. Hirzinger (Autor:in)

    Erscheinungsdatum :

    1992


    Format / Umfang :

    9 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




    The space robot technology experiment ROTEX on Spacelab-mission D-2

    Hirzinger, G. | British Library Online Contents | 1992


    The space robot technology experiment ROTEX on spacelab-D2

    HIRZINGER, G. / LANDZETTEL, K. | AIAA | 1992



    Gelenkregelung des ROTEX-Roboters der D2-Spacelab-Mission

    Neumann, R. / Moritz, W. | Tema Archiv | 1993


    ROTEX: space telerobotic flight experiment

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