DLRs dynamic actuator modules for robotic space applications

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.

[1]  Klaus Landzettel,et al.  ROKVISS - towards Telepresence Control in Advanced Space Missions , 2003 .

[2]  Klaus Landzettel,et al.  Dexhand: A Space qualified multi-fingered robotic hand , 2011, 2011 IEEE International Conference on Robotics and Automation.

[3]  Alin Albu-Schäffer,et al.  DLR's torque-controlled light weight robot III-are we reaching the technological limits now? , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[4]  Klaus Landzettel,et al.  DLR on the way towards Telepresent On-Orbit Servicing , 2004 .

[5]  Hong Liu,et al.  DLR hand II: experiments and experience with an anthropomorphic hand , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[6]  Klaus Landzettel,et al.  ROKVISS – ROBOTICS COMPONENT VERIFICATION ON ISS , 2005 .

[7]  Gerd Hirzinger,et al.  The thumb: guidelines for a robotic design , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8]  Bernd Schäfer,et al.  ROKVISS: Orbital Testbed for Tele-Presence Experiments, Novel Robotic Components and Dynamics Models Verification , 2004 .

[9]  Robert O. Ambrose,et al.  Robonaut Mobile Autonomy: Initial Experiments , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[10]  Patrick van der Smagt,et al.  Antagonism for a Highly Anthropomorphic Hand–Arm System , 2008, Adv. Robotics.

[11]  Hong Liu,et al.  Experimental study on impedance control for the five-finger dexterous robot hand DLR-HIT II , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[12]  Alin Albu-Schäffer,et al.  ROKVISS - robotics component verification on ISS current experimental results on parameter identification , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[13]  Klaus Landzettel,et al.  System Prerequisites and Operational Modes for On Orbit Servicing , 2004 .

[14]  Hong Liu,et al.  DLR's multisensory articulated hand. I. Hard- and software architecture , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).