DLRs dynamic actuator modules for robotic space applications

摘要

Based on our long-term goal to develop "robonauts" for space and the experiences our research department accumulated in space robotics, this article describes recent design and development results at DLR s Robotics and Mechatronics Center. Herein, we focus on lightweight robot arms, articulated hands and highly integrated actuation modules for space applications. We show how the development process started with fully sensorized, highly dynamic joint modules with state feedback control and led to seven degree of freedom (DOF) torque-controlled robot arms that enable innovative Cartesian impedance controllers. Further, we present two space robotics examples that are based on such modular actuation units. The first one is the ROKVISS experiment which has been launched towards the ISS in 2004 and returned to earth in 2011. The second is the Dextrous Robot Hand, DEXHAND, which we developed on contract with ESA. These two projects underline the strong interest to transfer our knowledge and experience from terrestrial robotic developments to innovative space technology.