Development and verification of ground-based tele-robotics operations concept for Dextre

Aziz, Sarmad

doi:10.1016/j.actaastro.2011.11.004

Cited by 9 publications

(3 citation statements)

References 1 publication

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“…Earthquakes are one of the most common and dangerous natural disasters [1], but due to the current state of robot intelligence [2], the creation of a fully autonomous rescue robot in the event of a disaster is still a long way off [3,4]. The development of sophisticated teleoperation technology [5][6][7] with human involvement in the control loop, along with the organic combination of advanced human decision-making and flexible operation capabilities with robots, remains an unavoidable choice for the advancement of intelligent rescue equipment. 1 College of Mechanical & Electrical Engineering, Hohai University, Changzhou 213022, Jiangsu Province, P.R.…”

Section: Introductionmentioning

confidence: 99%

Development of A master teleoperated manipulator for A hydraulic rescue robotic arm

Zhong

Gong

2023

Preprint

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The teleoperated rescue robot system has significant practical value and realistic significance in light of the complicated and hazardous environment following the seismic tragedy. In this study, a master-end manipulator system for teleoperation is conceived and built based on the self-created large-load seven-degree-of-freedom (7-DOFs) hydraulic robotic arm, to give users a simple and practical method of dragging control. First, the master manipulator of the hydraulic rescue robotic arm is designed as a homogeneous seven-axis linkage structure in accordance with the master hand design principle, and the corresponding degrees of freedom are configured in accordance with the configuration and performance index of the redundant degrees of freedom of the slave end hydraulic manipulator arm. Next, we construct the synovial mode impedance control method after analyzing the motion of the actual main-end manipulator arm. The feasibility of the synovial-mode impedance algorithm and the operability of the joystick functioning as the main end of the teleoperation system are next tested through testing. The results demonstrate that, in comparison to the general impedance control, the suggested main-end manipulator may ensure a better traction effect and decrease torque output errors, which in turn enhances operation accuracy.

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Section: Introductionmentioning

confidence: 99%

Development of A master teleoperated manipulator for A hydraulic rescue robotic arm

Zhong

Gong

2023

Preprint

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“…The commissioning process spanned nearly two years, and involved progressively more complex demonstrations of free-space maneuvering, OTCM functionality, fine-alignment tasks, and contact operations involving Dextre's tools. 3 Hence, all Dextre operations discussed in this paper were controlled entirely from the ground.…”

Section: A Evolution Of Dextre's Operations Conceptmentioning

confidence: 99%

“…This customized language is used by an automated procedure generation tool to produce the required operational procedures and command scripts. 3 The procedures, developed in MS Word format, are used as the primary document for the review, approval, and execution of the operation by the flight control team. The command scripts generated are text files used by MCC command applications to implement the directives listed in the procedures.…”

Section: B Mission Planningmentioning

confidence: 99%

Planning and Execution of Tele-Robotic Maintenance Operations on the ISS

Caron

Mills

2012

SpaceOps 2012 Conference

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The Mobile Servicing System (MSS) is a complex robotic system used extensively in the assembly, inspection and maintenance of the International Space Station (ISS). With the ISS construction now complete, the focus of MSS operations has shifted from assembly support to external maintenance activities. In 2011, the MSS successfully completed its first two logistics and maintenance operations using the Dextre robot: the relocation of new ISS components, delivered by the Japanese H-II Transfer Vehicle, and the removal and replacement of a failed ISS power controller module. This paper describes the planning and execution of Dextre's first tele-robotic operations. It summarizes the significant technical challenges encountered and presents the operational techniques developed to overcome them. Ground-controlled operations are shown to be an effective method to maximize external maintenance capability, and therefore ISS lifetime, as well as on-orbit crew availability for science activities. It is found that components designed to be robotically-serviceable can frequently present unforeseen challenges, driving the need for flexible operational tools and techniques, such as the use of force/moment sensing and accommodation. As a result, the approach developed for Dextre lends itself readily to future ISS maintenance tasks, but also to more general robotics exploration and satelliteservicing missions.

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Space Robotics: An Overview of Challenges, Applications and Technologies

Schwendner

Kirchner

2014

Künstl Intell

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Development and verification of ground-based tele-robotics operations concept for Dextre

Cited by 9 publications

References 1 publication

Development of A master teleoperated manipulator for A hydraulic rescue robotic arm

Development of A master teleoperated manipulator for A hydraulic rescue robotic arm

Planning and Execution of Tele-Robotic Maintenance Operations on the ISS

Space Robotics: An Overview of Challenges, Applications and Technologies

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