论文信息 - Space robotics - towards advanced mechatronic components and powerful telerobotic systems

Space robotics - towards advanced mechatronic components and powerful telerobotic systems

The paper describes recent design and development efforts in DLR`s robotics lab towards a new generation of “mechatronic” ultra-light weight robots with articulated hands and high-level remote programmability. The design of fully sensorized robot joints with complete state feedback and the underlying mechanisms are outlined. The second light-weight arm generation is available now the third is in preparation; in the same way the second generation of a most highly integrated 4 finger-hand is near completion. And the task-level programming system MARCO has proven its potential in ETSVII, NASDA`s free-flying space robot projects. Together with the Canadian Space Agency we prepare its use for the space station robot arm’s ground control. Thus it is hoped that big steps towards a new generation of space as well as service and personal robots have been achieved.

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