Sensor Controlled Space Robots

摘要

The telerobotic concepts as presently developed for a space robot technology experiment ROTEX to fly with the next spacelab mission D2 in 1992 are outlined; the robot is supposed to work in an autonomous mode, teleoperated by astronauts, and teleoperated from ground. One of its key features is a recently developed multisensory gripper with highly integrated, miniaturized sensor technology including stiff and compliant six-axis force-torque-sensing, 9 laser range finders, tactile arrays, grasp force control using a new electrical gripper drive and a stereo camera pair. Sensory feedback schemes and man-machine interface concepts using a 6 dof control ball and stereo imaging is explained. Sensory simulation on ground using advanced stereo graphics is supposed to predict the sensor based path refinement on board, while realtime fusion of stereo images and laserscan information helps to predict the motion of floating objects to be grasped. Finally a light-weight robot concept with new intelligent joint drives and grip-structure composite arms for the astronaut training onground is discussed.