The robotic developments of DLR (German Aerospace Research Establishment) over the last years are outlined. They aim at designing a new multisensory, modularly configurable light weight robot generation in a unified and integral mechatronics approach. Historically the first step in this direction has been the development of a complex multisensory gripper for ROTEX, the first real robot in space, that flew with shuttle COLUMBIA in early 1993. In a similar way sensors and actuators in DLR's new ultra-light-weight seven-degree-of-freedom robot show up miniaturized integration of mechanics, electronics and microprocessor control including joint torque sensing and control. The concept of the 'artificial muscle' is outlined and its use for the design of multi-joint fingers of new modular, articulated robot hands. Implicit, task-level programming following a 'learning by showing' approach in a virtual environment is the main feature of the telerobotic system based on the ROTEX experience with its highly efficient any-time mixture of sensor-based teleoperation and sensor-based teleprogramming. This hierarchical four-level programming control system covers internal servicing tasks in the same way as external servicing applications in the context of an experimental servicing satellite.


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    Title :

    Preparing a new generation of space robots - A survey of research at DLR


    Additional title:

    Vorstellung der Forschungsarbeiten bei der DLR (Deutsche Luft- und Raumfahrtanstalt) zur Entwicklung einer neuen Generation von Weltraumroboter


    Contributors:
    Hirzinger, G. (author) / Brunner, B. (author) / Landzettel, K. (author) / Schott, J. (author)

    Published in:

    Publication date :

    1998


    Size :

    8 Seiten, 7 Bilder, 7 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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