DLR's robotics technologies for on-orbit servicing
Identifieur interne : 001081 ( PascalFrancis/Corpus ); précédent : 001080; suivant : 001082DLR's robotics technologies for on-orbit servicing
Auteurs : G. Hirzinger ; K. Landzettel ; B. Brunner ; M. Fischer ; C. Preusche ; D. Reintsema ; A. Albu Schaffer ; G. Schreiber ; B. M. SteinmetzSource :
- Advanced Robotics [ 0169-1864 ] ; 2004.
Descripteurs français
- Pascal (Inist)
English descriptors
- KwdEn :
Abstract
The paper outlines the long-term space robotics projects as well as recent results in DLR's robotics laboratory. The driving force behind all the efforts made in hardware and software development is to design highly integrated robot systems which can be utilized in space, especially for extravehicular activities. Our envisaged field of application reaches from servicing satellites in low Earth and geostationary orbit to space stations as well as planetary exploration robots, all of them fully ground controlled from Earth. The ground control concept is based on the MARCO architecture, which was verified in a few space robotics projects over recent years. It includes task-oriented programming capabilities for autonomous robot control at the remote site as well as methods for direct telemanipulation by means of virtual reality and telepresence techniques, which allows a realistic feeling for the ground operator via visual and haptic feedback devices. In addition to the control techniques, a new generation of ultra-lightweight robot arms with articulated hands is required to give the space robot systems the necessary dexterity. A number of experiments will verify and consolidate the usage of space robots. First, the ROKVISS experiment aims at the verification of DLR's lightweight robotics components under realistic mission conditions. Second, the TECSAS experiment will show the feasibility of autonomous as well as telepresence methods for further satellite servicing tasks. Third, a strong cooperation with industry will create the first business case in on-orbit-servicing: by attaching a tugboat to a satellite, whose propellant is declining, the lifetime of valuable telecommunication satellites cou!d be prolonged for several years.
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Format Inist (serveur)
| NO : | PASCAL 04-0168851 EI |
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| ET : | DLR's robotics technologies for on-orbit servicing |
| AU : | HIRZINGER (G.); LANDZETTEL (K.); BRUNNER (B.); FISCHER (M.); PREUSCHE (C.); REINTSEMA (D.); ALBU SCHAFFER (A.); SCHREIBER (G.); STEINMETZ (B. M.) |
| AF : | Inst. of Robotics and Mechatronics German Aerospace Res. Center (DLR)/D-82234 Wessling/Allemagne (1 aut.) |
| DT : | Publication en série; Niveau analytique |
| SO : | Advanced Robotics; ISSN 0169-1864; Coden ADROEI; Pays-Bas; Da. 2004; Vol. 18; No. 2; Pp. 139-174; Bibl. 52 Refs. |
| LA : | Anglais |
| EA : | The paper outlines the long-term space robotics projects as well as recent results in DLR's robotics laboratory. The driving force behind all the efforts made in hardware and software development is to design highly integrated robot systems which can be utilized in space, especially for extravehicular activities. Our envisaged field of application reaches from servicing satellites in low Earth and geostationary orbit to space stations as well as planetary exploration robots, all of them fully ground controlled from Earth. The ground control concept is based on the MARCO architecture, which was verified in a few space robotics projects over recent years. It includes task-oriented programming capabilities for autonomous robot control at the remote site as well as methods for direct telemanipulation by means of virtual reality and telepresence techniques, which allows a realistic feeling for the ground operator via visual and haptic feedback devices. In addition to the control techniques, a new generation of ultra-lightweight robot arms with articulated hands is required to give the space robot systems the necessary dexterity. A number of experiments will verify and consolidate the usage of space robots. First, the ROKVISS experiment aims at the verification of DLR's lightweight robotics components under realistic mission conditions. Second, the TECSAS experiment will show the feasibility of autonomous as well as telepresence methods for further satellite servicing tasks. Third, a strong cooperation with industry will create the first business case in on-orbit-servicing: by attaching a tugboat to a satellite, whose propellant is declining, the lifetime of valuable telecommunication satellites cou!d be prolonged for several years. |
| CC : | 001D02D11; 001E03A90; 001E03A40; 001D02B03; 001D02D |
| FD : | Application; Application robot; Station spatiale; Orbite; Module atterrissage planétaire; Programmation robot; Télécommande; Réalité virtuelle; Interface haptique; Bras robot; Robotique; Article synthèse |
| ED : | On-orbit servicing; Autonomous space robots; Telepresence; Satellite maintenance; Application; Robot applications; Space stations; Orbits; Planetary landers; Robot programming; Remote control; Virtual reality; Haptic interfaces; Robotic arms; Robotics; Reviews |
| SD : | Aplicación |
| LO : | INIST-21004 |
| ID : | 04-0168851 |
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Pascal:04-0168851Le document en format XML
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Landzettel</name></author><author><name sortKey="Brunner, B" sort="Brunner, B" uniqKey="Brunner B" first="B." last="Brunner">B. Brunner</name></author><author><name sortKey="Fischer, M" sort="Fischer, M" uniqKey="Fischer M" first="M." last="Fischer">M. Fischer</name></author><author><name sortKey="Preusche, C" sort="Preusche, C" uniqKey="Preusche C" first="C." last="Preusche">C. Preusche</name></author><author><name sortKey="Reintsema, D" sort="Reintsema, D" uniqKey="Reintsema D" first="D." last="Reintsema">D. Reintsema</name></author><author><name sortKey="Albu Schaffer, A" sort="Albu Schaffer, A" uniqKey="Albu Schaffer A" first="A." last="Albu Schaffer">A. Albu Schaffer</name></author><author><name sortKey="Schreiber, G" sort="Schreiber, G" uniqKey="Schreiber G" first="G." last="Schreiber">G. Schreiber</name></author><author><name sortKey="Steinmetz, B M" sort="Steinmetz, B M" uniqKey="Steinmetz B" first="B. M." last="Steinmetz">B. M. Steinmetz</name></author></analytic><series><title level="j" type="main">Advanced Robotics</title><title level="j" type="abbreviated">Adv Rob</title><idno type="ISSN">0169-1864</idno><imprint><date when="2004">2004</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">Advanced Robotics</title><title level="j" type="abbreviated">Adv Rob</title><idno type="ISSN">0169-1864</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Application</term><term>Autonomous space robots</term><term>Haptic interfaces</term><term>On-orbit servicing</term><term>Orbits</term><term>Planetary landers</term><term>Remote control</term><term>Reviews</term><term>Robot applications</term><term>Robot programming</term><term>Robotic arms</term><term>Robotics</term><term>Satellite maintenance</term><term>Space stations</term><term>Telepresence</term><term>Virtual reality</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Application</term><term>Application robot</term><term>Station spatiale</term><term>Orbite</term><term>Module atterrissage planétaire</term><term>Programmation robot</term><term>Télécommande</term><term>Réalité virtuelle</term><term>Interface haptique</term><term>Bras robot</term><term>Robotique</term><term>Article synthèse</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">The paper outlines the long-term space robotics projects as well as recent results in DLR's robotics laboratory. The driving force behind all the efforts made in hardware and software development is to design highly integrated robot systems which can be utilized in space, especially for extravehicular activities. Our envisaged field of application reaches from servicing satellites in low Earth and geostationary orbit to space stations as well as planetary exploration robots, all of them fully ground controlled from Earth. The ground control concept is based on the MARCO architecture, which was verified in a few space robotics projects over recent years. It includes task-oriented programming capabilities for autonomous robot control at the remote site as well as methods for direct telemanipulation by means of virtual reality and telepresence techniques, which allows a realistic feeling for the ground operator via visual and haptic feedback devices. In addition to the control techniques, a new generation of ultra-lightweight robot arms with articulated hands is required to give the space robot systems the necessary dexterity. A number of experiments will verify and consolidate the usage of space robots. First, the ROKVISS experiment aims at the verification of DLR's lightweight robotics components under realistic mission conditions. Second, the TECSAS experiment will show the feasibility of autonomous as well as telepresence methods for further satellite servicing tasks. Third, a strong cooperation with industry will create the first business case in on-orbit-servicing: by attaching a tugboat to a satellite, whose propellant is declining, the lifetime of valuable telecommunication satellites cou!d be prolonged for several years.</div></front></TEI><inist><standard h6="B"><pA><fA01 i1="01" i2="1"><s0>0169-1864</s0></fA01><fA02 i1="01"><s0>ADROEI</s0></fA02><fA03 i2="1"><s0>Adv Rob</s0></fA03><fA05><s2>18</s2></fA05><fA06><s2>2</s2></fA06><fA08 i1="01" i2="1" l="ENG"><s1>DLR's robotics technologies for on-orbit servicing</s1></fA08><fA11 i1="01" i2="1"><s1>HIRZINGER (G.)</s1></fA11><fA11 i1="02" i2="1"><s1>LANDZETTEL (K.)</s1></fA11><fA11 i1="03" i2="1"><s1>BRUNNER (B.)</s1></fA11><fA11 i1="04" i2="1"><s1>FISCHER (M.)</s1></fA11><fA11 i1="05" i2="1"><s1>PREUSCHE (C.)</s1></fA11><fA11 i1="06" i2="1"><s1>REINTSEMA (D.)</s1></fA11><fA11 i1="07" i2="1"><s1>ALBU SCHAFFER (A.)</s1></fA11><fA11 i1="08" i2="1"><s1>SCHREIBER (G.)</s1></fA11><fA11 i1="09" i2="1"><s1>STEINMETZ (B. M.)</s1></fA11><fA14 i1="01"><s1>Inst. of Robotics and Mechatronics German Aerospace Res. Center (DLR)</s1><s2>D-82234 Wessling</s2><s3>DEU</s3><sZ>1 aut.</sZ></fA14><fA20><s1>139-174</s1></fA20><fA21><s1>2004</s1></fA21><fA23 i1="01"><s0>ENG</s0></fA23><fA43 i1="01"><s1>INIST</s1><s2>21004</s2></fA43><fA44><s0>A100</s0></fA44><fA45><s0>52 Refs.</s0></fA45><fA47 i1="01" i2="1"><s0>04-0168851</s0></fA47><fA60><s1>P</s1></fA60><fA61><s0>A</s0></fA61><fA64 i1="01" i2="1"><s0>Advanced Robotics</s0></fA64><fA66 i1="01"><s0>NLD</s0></fA66><fC01 i1="01" l="ENG"><s0>The paper outlines the long-term space robotics projects as well as recent results in DLR's robotics laboratory. The driving force behind all the efforts made in hardware and software development is to design highly integrated robot systems which can be utilized in space, especially for extravehicular activities. Our envisaged field of application reaches from servicing satellites in low Earth and geostationary orbit to space stations as well as planetary exploration robots, all of them fully ground controlled from Earth. The ground control concept is based on the MARCO architecture, which was verified in a few space robotics projects over recent years. It includes task-oriented programming capabilities for autonomous robot control at the remote site as well as methods for direct telemanipulation by means of virtual reality and telepresence techniques, which allows a realistic feeling for the ground operator via visual and haptic feedback devices. In addition to the control techniques, a new generation of ultra-lightweight robot arms with articulated hands is required to give the space robot systems the necessary dexterity. A number of experiments will verify and consolidate the usage of space robots. First, the ROKVISS experiment aims at the verification of DLR's lightweight robotics components under realistic mission conditions. Second, the TECSAS experiment will show the feasibility of autonomous as well as telepresence methods for further satellite servicing tasks. Third, a strong cooperation with industry will create the first business case in on-orbit-servicing: by attaching a tugboat to a satellite, whose propellant is declining, the lifetime of valuable telecommunication satellites cou!d be prolonged for several years.</s0></fC01><fC02 i1="01" i2="X"><s0>001D02D11</s0></fC02><fC02 i1="02" i2="3"><s0>001E03A90</s0></fC02><fC02 i1="03" i2="3"><s0>001E03A40</s0></fC02><fC02 i1="04" i2="X"><s0>001D02B03</s0></fC02><fC02 i1="05" i2="X"><s0>001D02D</s0></fC02><fC03 i1="01" i2="1" l="ENG"><s0>On-orbit servicing</s0><s4>INC</s4></fC03><fC03 i1="02" i2="1" l="ENG"><s0>Autonomous space robots</s0><s4>INC</s4></fC03><fC03 i1="03" i2="1" l="ENG"><s0>Telepresence</s0><s4>INC</s4></fC03><fC03 i1="04" i2="1" l="ENG"><s0>Satellite maintenance</s0><s4>INC</s4></fC03><fC03 i1="05" i2="X" l="FRE"><s0>Application</s0></fC03><fC03 i1="05" i2="X" l="ENG"><s0>Application</s0></fC03><fC03 i1="05" i2="X" l="SPA"><s0>Aplicación</s0></fC03><fC03 i1="06" i2="1" l="FRE"><s0>Application robot</s0></fC03><fC03 i1="06" i2="1" l="ENG"><s0>Robot applications</s0></fC03><fC03 i1="07" i2="1" l="FRE"><s0>Station spatiale</s0></fC03><fC03 i1="07" i2="1" l="ENG"><s0>Space stations</s0></fC03><fC03 i1="08" i2="1" l="FRE"><s0>Orbite</s0></fC03><fC03 i1="08" i2="1" l="ENG"><s0>Orbits</s0></fC03><fC03 i1="09" i2="1" l="FRE"><s0>Module atterrissage planétaire</s0></fC03><fC03 i1="09" i2="1" l="ENG"><s0>Planetary landers</s0></fC03><fC03 i1="10" i2="1" l="FRE"><s0>Programmation robot</s0></fC03><fC03 i1="10" i2="1" l="ENG"><s0>Robot programming</s0></fC03><fC03 i1="11" i2="1" l="FRE"><s0>Télécommande</s0></fC03><fC03 i1="11" i2="1" l="ENG"><s0>Remote control</s0></fC03><fC03 i1="12" i2="1" l="FRE"><s0>Réalité virtuelle</s0></fC03><fC03 i1="12" i2="1" l="ENG"><s0>Virtual reality</s0></fC03><fC03 i1="13" i2="1" l="FRE"><s0>Interface haptique</s0></fC03><fC03 i1="13" i2="1" l="ENG"><s0>Haptic interfaces</s0></fC03><fC03 i1="14" i2="1" l="FRE"><s0>Bras robot</s0></fC03><fC03 i1="14" i2="1" l="ENG"><s0>Robotic arms</s0></fC03><fC03 i1="15" i2="1" l="FRE"><s0>Robotique</s0><s3>P</s3></fC03><fC03 i1="15" i2="1" l="ENG"><s0>Robotics</s0><s3>P</s3></fC03><fC03 i1="16" i2="1" l="FRE"><s0>Article synthèse</s0></fC03><fC03 i1="16" i2="1" l="ENG"><s0>Reviews</s0></fC03><fN21><s1>117</s1></fN21></pA></standard><server><NO>PASCAL 04-0168851 EI</NO><ET>DLR's robotics technologies for on-orbit servicing</ET><AU>HIRZINGER (G.); LANDZETTEL (K.); BRUNNER (B.); FISCHER (M.); PREUSCHE (C.); REINTSEMA (D.); ALBU SCHAFFER (A.); SCHREIBER (G.); STEINMETZ (B. M.)</AU><AF>Inst. of Robotics and Mechatronics German Aerospace Res. Center (DLR)/D-82234 Wessling/Allemagne (1 aut.)</AF><DT>Publication en série; Niveau analytique</DT><SO>Advanced Robotics; ISSN 0169-1864; Coden ADROEI; Pays-Bas; Da. 2004; Vol. 18; No. 2; Pp. 139-174; Bibl. 52 Refs.</SO><LA>Anglais</LA><EA>The paper outlines the long-term space robotics projects as well as recent results in DLR's robotics laboratory. The driving force behind all the efforts made in hardware and software development is to design highly integrated robot systems which can be utilized in space, especially for extravehicular activities. Our envisaged field of application reaches from servicing satellites in low Earth and geostationary orbit to space stations as well as planetary exploration robots, all of them fully ground controlled from Earth. The ground control concept is based on the MARCO architecture, which was verified in a few space robotics projects over recent years. It includes task-oriented programming capabilities for autonomous robot control at the remote site as well as methods for direct telemanipulation by means of virtual reality and telepresence techniques, which allows a realistic feeling for the ground operator via visual and haptic feedback devices. In addition to the control techniques, a new generation of ultra-lightweight robot arms with articulated hands is required to give the space robot systems the necessary dexterity. A number of experiments will verify and consolidate the usage of space robots. First, the ROKVISS experiment aims at the verification of DLR's lightweight robotics components under realistic mission conditions. Second, the TECSAS experiment will show the feasibility of autonomous as well as telepresence methods for further satellite servicing tasks. Third, a strong cooperation with industry will create the first business case in on-orbit-servicing: by attaching a tugboat to a satellite, whose propellant is declining, the lifetime of valuable telecommunication satellites cou!d be prolonged for several years.</EA><CC>001D02D11; 001E03A90; 001E03A40; 001D02B03; 001D02D</CC><FD>Application; Application robot; Station spatiale; Orbite; Module atterrissage planétaire; Programmation robot; Télécommande; Réalité virtuelle; Interface haptique; Bras robot; Robotique; Article synthèse</FD><ED>On-orbit servicing; Autonomous space robots; Telepresence; Satellite maintenance; Application; Robot applications; Space stations; Orbits; Planetary landers; Robot programming; Remote control; Virtual reality; Haptic interfaces; Robotic arms; Robotics; Reviews</ED><SD>Aplicación</SD><LO>INIST-21004</LO><ID>04-0168851</ID></server></inist></record>Pour manipuler ce document sous Unix (Dilib)
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