ROKVISS Verification of Advanced Light Weight Robotic Joints and Tele-Presence Concepts for Future Space Missions

摘要

ROKVISS, Germany's new space robotics technology experiment, was successfully installed outside at the Russian Service Module of the International Space Station (ISS) at the end of January 2005, Fig. 1 (Courtesy NASA). Since February 2005 the two joint ROKVISS manipulator can be operated from ground via a direct radio link. The aim of ROKVISS is the in flight verification of highly integrated modular light weight robotic joints as well as the demonstration of different control modes, reaching from high system autonomy to force feedback tele-operation (tele- presence mode). Meanwhile the experiment was operated for more than one year in free space, delivering lots of interesting data concerning the joints reliability and the tele-presence mode performance. ROKVISS is a further step forward to provide space robotics hardware and powerful control concepts for on orbit servicing and for planetary exploration as required in upcoming manned and unmanned space missions. This paper describes the modifications which were necessary to prepare DLR's light weight robotic joints for free space operation, the performance of the joints over a longer period of time, the results and experiences gained from tele- presence mode experiments, as well as some operational aspects concerning the S-band communication system. ROKVISS is a further step forward to provide space robotics hardware and powerful control concepts for on orbit servicing and for planetary exploration as required in upcoming manned and unmanned space missions.