Multisensory telerobotic concepts
Multisensory telerobotic concepts
- New search for: Hirzinger, G.
- New search for: Dietrich, J.
- New search for: Brunner, B.
- New search for: Hirzinger, G.
- New search for: Dietrich, J.
- New search for: Brunner, B.
The telerobotic concepts developed for the space robot technology experiment ROTEX to fly with Spacelab mission D2 in 1992 are outlined. The robot works in three modes: autonomous, teleoperated by astronauts, and teleoperated from the ground. One of its key features is a 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 an electrical gripper drive and a stereo camera pair. Sensory feedback schemes and man-machine interface concepts using a 6 d.o.f. control ball and stereo imaging is explained. Sensory simulation on the 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 on the ground is discussed.
Document information
Multisensory telerobotic concepts
Entwurf eines Mehrgrößen-Meßaufnehmers für einen Industrieroboter
1990
11 Seiten, 18 Quellen
Conference paper
English
Similar titles
Multisensory telerobotic techniques
| Tema Archive | 1990
Space Telerobotic Systems: Applications and Concepts
| NTIS | 1987
Space telerobotic systems: Applications and concepts
| NTRS | 1987
Predictive and knowledge-based telerobotic control concepts
| Tema Archive | 1989