The telerobotic concepts developed for the space robot technology experiment ROTEX to fly with Spacelab mission D2 in 1992 are outlined. The robot works in three modes: autonomous, teleoperated by astronauts, and teleoperated from the ground. One of its key features is a multisensory gripper with highly integrated, miniaturized sensor technology including stiff and compliant six-axis force-torque-sensing. 9 laser range finders, tactile arrays, grasp force control using an electrical gripper drive and a stereo camera pair. Sensory feedback schemes and man-machine interface concepts using a 6 d.o.f. control ball and stereo imaging is explained. Sensory simulation on the 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. Finally a light-weight robot concept with new intelligent joint drives and grip-structure composite arms for the astronaut training on the ground is discussed.


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    Titel :

    Multisensory telerobotic concepts


    Weitere Titelangaben:

    Entwurf eines Mehrgrößen-Meßaufnehmers für einen Industrieroboter


    Beteiligte:
    Hirzinger, G. (Autor:in) / Dietrich, J. (Autor:in) / Brunner, B. (Autor:in)


    Erscheinungsdatum :

    1990


    Format / Umfang :

    11 Seiten, 18 Quellen



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    Multisensory telerobotic techniques

    Dietrich, J. / Hirzinger, G. / Heindl, J. et al. | Tema Archiv | 1990


    Multisensory Telerobotic Concepts for Space and Underwater Applications

    G. Hirzinger / J. Dietrich / B. Brunner | NTIS | 1990




    Predictive and knowledge-based telerobotic control concepts

    Hirzinger, G. / Heindl, J. / Landzettel, K. | Tema Archiv | 1989