In early 1993 the space robot technology experiment ROTEX was flown with space-shuttle Columbia. A multisensory robot onboard the spacecraft successfully worked in autonomous modes, teleoperated by astronauts, as well as in different telerobotic ground control modes. These included online teleoperational and telesensor-programming: a task-level oriented programming technique involving learning-by-showing concepts in a virtual environment. The robot's key features were its multisensory gripper and the local sensory feedback schemes that are the basis for shared autonomy. The corresponding man-machine interface concepts, which use a six-degree-of-freedom non-force-reflecting control ball and visual feedback to the human operator, are explained. Stereographic simulation on the ground was used to predict not only the robot's free motion but even the sensor-based path refinement onboard. Prototype tasks performed by this space robot were the assembly of a truss structure, connecting/disconnecting an electrical plug (orbit replaceable unit exchange), and grasping free-floating objects.


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    Title :

    Sensor-based space robotics-ROTEX and its telerobotic features


    Additional title:

    ROTEX, der sensorunterstützte Roboter für die Raumfahrttechnik und seine Teleoperationseigenschaften


    Contributors:
    Hirzinger, G. (author) / Brunner, B. (author) / Dietrich, J. (author) / Heindl, J. (author)

    Published in:

    Publication date :

    1993


    Size :

    15 Seiten, 21 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    ROTEX: space telerobotic flight experiment

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




    Telerobotic work system-space robotics application

    Jenkins, L.M. | Tema Archive | 1986


    ROTEX - The First Robot in Space

    Hirzinger, G. / Dietrich, J. / Heindl, J. et al. | SAE Technical Papers | 1994