ROKVISS - robotics component verification on ISS current experimental results on parameter identification

ROKVISS, the German new space robotics technology experiment, was successfully installed outside at the Russian Service Module of the International Space Station (ISS) during an extravehicular space walk at the end of January 2005. Since February 2005 a two joint manipulator can be operated from ground via a direct radio link. The aim of ROKVISS is the in flight verification of highly integrated modular robotic joints as well as the demonstration of different control modes, reaching from high system autonomy to force feedback teleoperation. A main goal of the experiment is the evaluation of the dynamical parameters (especially friction, motor constant and stiffness), as well as the monitoring of their evolution over the duration of the mission, in order to validate the long term performance of the system. The paper gives first a short overview of the experiment and in particular a description of the applied control structures. The main focus of the paper is on the joint parameter identification results obtained so far, during one year of operation

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

[2]  Alin Albu-Schäffer,et al.  A globally stable state feedback controller for flexible joint robots , 2001, Adv. Robotics.

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

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

[5]  Alin Albu-Schäffer,et al.  Cartesian impedance control techniques for torque controlled light-weight robots , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

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

[7]  M. Spong.  Modeling and Control of Elastic Joint Robots , 1987 .

[8]  Petar V. Kokotovic,et al.  An integral manifold approach to the feedback control of flexible joint robots , 1987, IEEE J. Robotics Autom..

[9]  Bernd Schäfer,et al.  ROKVISS - Space Robotics Dynamics and Control Performance Experiments at the ISS , 2004 .

[10]  Alin Albu-Schäffer,et al.  A passivity based Cartesian impedance controller for flexible joint robots - part I: torque feedback and gravity compensation , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

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

[12]  A. Albu-Schäffer.  Regelung von Robotern mit elastischen Gelenken am Beispiel der DLR-Leichtbauarme , 2002 .

[13]  Alin Albu-Schäffer,et al.  Parameter identification and passivity based joint control for a 7 DOF torque controlled light weight robot , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[14]  Alin Albu-Schäffer,et al.  A passivity based Cartesian impedance controller for flexible joint robots - part II: full state feedback, impedance design and experiments , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[15]  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).