The telerobotic concepts as presently developed for a space Robot Technology Experiment (ROTEX) to fly with the next Spacelab mission D2 in 1992 are outlined; the robot is supposed to work in an autonomous mode, teleoperated by astronauts, and teleoperated from ground. One of its key features is a recently developed multi sensory gripper with highly integrated, miniaturized sensor technology including stiff and compliant six axis force torque sensing, nine laser range finders, tactile arrays, grasp force control using a new electrical gripper drive and a stereo camera pair. Sensory feedback schemes and man machine interface concepts using a six degrees of freedom 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 real time fusion of stereo images and laserscan information helps to predict the motion of floating objects to be grasped. A lightweight robot concept with new intelligent joint drives and grid structure composite arms for the astronaut training on ground is discussed. The telerobotic concepts are structured thus that they are equally applicable to space and underwater situations.
Multisensory Telerobotic Concepts for Space and Underwater Applications
1990
11 pages
Report
Keine Angabe
Englisch
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