ROKVISS - robotics component verification on ISS current experimental results on parameter identification

Albu‐Schäffer, Alin; Bertleff, Wieland; Rebele, Bernhard; Schäfer, Bernd; Landzettel, K.; Hirzinger, Gerd

doi:10.1109/robot.2006.1642296

Cited by 42 publications

(21 citation statements)

References 10 publications

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“…There have been six projects on space robots so far (Hirzinger et al, 1994;Settelmeyer et al, 1997;Cusumano et al, 2004;Albu-Schaffer et al, 2006;Landzettel et al, 2006;Preusche et al, 2006), three of which conducted on-orbit demonstrations. At present, two representative projects are underway, the DOES project and the OLEV project.…”

Section: Germanymentioning

confidence: 99%

Current trends in the development of intelligent unmanned autonomous systems

Zhang

et al. 2017

Frontiers Inf Technol Electronic Eng

125

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Intelligent unmanned autonomous systems are some of the most important applications of artificial intelligence (AI). The development of such systems can significantly promote innovation in AI technologies. This paper introduces the trends in the development of intelligent unmanned autonomous systems by summarizing the main achievements in each technological platform. Furthermore, we classify the relevant technologies into seven areas, including AI technologies, unmanned vehicles, unmanned aerial vehicles, service robots, space robots, marine robots, and unmanned workshops/intelligent plants. Current trends and developments in each area are introduced.

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Section: Germanymentioning

confidence: 99%

Current trends in the development of intelligent unmanned autonomous systems

Zhang

et al. 2017

Frontiers Inf Technol Electronic Eng

125

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“…The main difficulty is to achieve a real-time communication infrastructure capable of long lasting communication windows while keeping moderate delays. The point-to-point paradigm was first presented during the ROKVISS experiment [2], where high performance teleoperation could be achieved with relative ease due to the resulting low time delays (around 20 ms) and low jitter. The used infrastructure allowed fast (500 Hz) real-time communication between the DLR, close to Munich, and the ISS Russian module.…”

Section: Teleoperation Through Geostationary Satellitesmentioning

confidence: 99%

FORROST: Advances in on-orbit robotic technologies

Lampariello¹,

Oumer²,

Artigas³

et al. 2015

2015 IEEE Aerospace Conference

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Orbital robotics is receiving growing attention worldwide for applications in servicing and repositioning of partially or fully defective satellites. In this paper, we present the scope and main results of a four-year research project, which aimed at developing necessary robotic technologies for such applications. The scope is two-fold, since we address both the human-operated robotic operational mode, referred to in robotics as forcefeedback teleoperation, as well as the alternative autonomous mode, for the specific task of approaching and grasping a freetumbling target satellite. We present methodological developments and experimental as well as numerical validations in the fields of tele-communications, computer vision, robot and spacecraft control and system identification. The results of this work constitute important advances in the fundamental building blocks necessary for the orbital applications of interest.

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“…With the development of human-robot cooperation, force sensing and force control are increasingly demanded in order to achieve compliant contact force and high safety, which necessitate joint torque measuring in robot systems [1][2][3]. Meanwhile, control strategies with joint torque feedback have been presented to deal with robot vibration and motion error caused by the inherent flexibility, dynamic error in tooth engagement and complex friction in harmonic drive, so as to achieve better trajectory tracking performance, which also spur the usage of joint torque sensor [4][5][6].…”

Section: Introductionmentioning

confidence: 99%

Development and optimization of the build-in torque sensor for harmonic drive

Wang

Cui

et al. 2015

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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The development of human-robot cooperation and the demand of high-precision robot control have increasingly spurred the usage of joint torque sensors. A build-in torque sensor for harmonic drive is researched in this paper, which utilizes strain gauges attached to the surface of the flexspline to measure torque. As the strain signal is significantly affected by the rotation of wave generator, positioning error of strain gauges and uneven distribution of the load torque, a new torque sensing technique with on-line torque estimation is developed to eliminate disturbance and achieve better measurement precision. Meanwhile, the dynamic strain of flexspline is obtained by finite element method, which is utilized to optimize the layout of strain gauges for lower disturbance. The proposed torque sensing technique is implemented and verified by experimental results.compliant elements adds mechanical components, makes the joint structure more complex and increases the joint elasticity.

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ROKVISS - robotics component verification on ISS current experimental results on parameter identification

Cited by 42 publications

References 10 publications

Current trends in the development of intelligent unmanned autonomous systems

Current trends in the development of intelligent unmanned autonomous systems

FORROST: Advances in on-orbit robotic technologies

Development and optimization of the build-in torque sensor for harmonic drive

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