The GETEX (German ETS-VII Experiment) joint robotics experiments are described, which has been conducted in April 1999 at the first free-floating space robot on NASDA's ETS-VII satellite. All the experiments have been performed and controlled from DLR's (Deutsche Luft- und Raumfahrt) ground control system for space robotics applications which was connected to NASDA's ground station in Tsukuba. The telerobotic system combines sensor-based task-level teleprogramming (as the basis for autonomy) with the features of teleoperation and shared autonomy. The hierarchical system structure is shown as well as the flexibility in programming and controlling each kind of space robotics application. This approach has led to a modular task-directed programming scheme, called MARCO (Modular A&R Controller), which provides a very flexible architecture to adapt the application-specific requirements to a given controlling scheme. A peg-in-hole experiment, using VR (virtual Reality) methods and the ,,vision&force' control scheme, by closing sensor control loops directly on-board (force) and via the ground control system (vision) is explained. During GETEX experiments were conducted with relevance to the behavior of ETS-VII in free motion mode in order to verify the existing dynamic models.
DLR's experiments on the ETS VII space robot mission
Versuchsergebnisse des Deutschen Zentrums für Luft- und Raumfahrt e.V. (DLR) mit der Fernsteuerung des Satellitenroboters ETS-VII
1999
7 Seiten, 11 Bilder, 1 Tabelle, 10 Quellen
Aufsatz (Konferenz)
Englisch
DLR's Experiments on the ETS VII Space Robot Mission
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