DLR's robotics technologies for on-orbit servicing

Hirzinger, Gerd; Landzettel, K.; Brunner, Bernhard; Fischer, Max; Preusche, Carsten; Reintsema, Detlef; Albu-Schäffer, Alin; Schreiber, G.; Steinmetz, Bernhard-Michael

doi:10.1163/156855304322758006

Cited by 152 publications

(67 citation statements)

References 7 publications

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“…The FFR test bed consists of two 6.4 kg robot modules that float with CO 2 bearings on a 1.3 m × 2.2 m polished granite table to emulate microgravity in two dimensions (Hirzinger et al 2004;Mohan and Miller 2008). See Fig.…”

Section: Experimental Validationmentioning

confidence: 99%

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Cooperative control of modular space robots

Toglia

Kennedy²,

Dubowsky

2011

Auton Robot

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Modular self-assembling on-orbit robots have the potential to reduce mission costs, increase reliability, and permit on-orbit repair and refueling. Modules with a variety of specialized capabilities would self-assemble from orbiting inventories. The assembled modules would then share resources such as power and sensors. As each free-flying module carries its own attitude control actuators, the assembled system has substantial sensor and actuator redundancy. Sensor redundancy enables sensor fusion that reduces measurement error. Actuator redundancy gives a system greater flexibility in managing its fuel usage. In this paper, the control of self-assembling space robots is explored in simulations and experiments. Control and sensor algorithms are presented that exploit the sensor and actuator redundancy. The algorithms address the control challenges introduced by the dynamic interactions between modules, the distribution of fuel resources among modules, and plume impingement.

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Section: Experimental Validationmentioning

confidence: 99%

“…Substantial work has been done on the control of the rendezvous and docking of spacecraft and space robots (McCamish et al 2007;Fehse 2003;Yoshida et al 1995;Hirzinger et al 2004). These works generally focus on the period just before docking when the spacecrafts are freeflying or the impact during docking.…”

Section: Introductionmentioning

confidence: 99%

Cooperative control of modular space robots

Toglia

Kennedy²,

Dubowsky

2011

Auton Robot

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“…A key enabler for O 3 are the different technology capabilities broadly defined by the term robotics and autonomous systems (RASs) for small satellites [20], [21], which is the focus of this paper. Space robots and small satellites allow us to overcome limitations in exploring and operating in harsh environments where it is too risky for human astronauts.…”

Section: Introductionmentioning

confidence: 99%

Robotics and AI-Enabled On-Orbit Operations With Future Generation of Small Satellites

et al. 2018

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“…For example, two recent studies by the National Research Council studies have identified the development of human and robotic on-orbit servicing capabilities as a national priority for the United States [7], [6]. Furthermore, recent onorbit spacecraft servicing missions and on-orbit spacecraft engineering experiments have demonstrated the feasibility on-orbit repair and servicing of spacecraft by humans [19], telerobotics [13], [18], [14], [31], and combined humantelerobotic operations [16]. However, we can expect most such operations will require a human "in the loop" since they were not originally designed for robotic servicing.…”

Section: Introductionmentioning

confidence: 99%

A pilot study in vision-based augmented telemanipulation for remote assembly over high-latency networks

Bohren

Papazov

Burschka

et al. 2013

2013 IEEE International Conference on Robotics and Automation

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Abstract-In this paper we present an approach to extending the capabilities of telemanipulation systems by intelligently augmenting a human operator's motion commands based on quantitative three-dimensional scene perception at the remote telemanipulation site. This framework is the first prototype of the Augmented Shared-Control for Efficient, Natural Telemanipulation (ASCENT) System. ASCENT aims to enable new robotic applications in environments where task complexity precludes autonomous execution or where low-bandwidth and/or highlatency communication channels exist between the nearest human operator and the application site. These constraints can constrain the domain of telemanipulation to simple or static environments, reduce the effectiveness of telemanipulation, and even preclude remote intervention entirely.ASCENT is a semi-autonomous framework that increases the speed and accuracy of a human operator's actions via seamless transitions between one-to-one teleoperation and autonomous interventions.We report the promising results of a pilot study validating ASCENT in a transatlantic telemanipulation experiment between The Johns Hopkins University in Baltimore, MD, USA and the German Aerospace Center (DLR) in Oberpfaffenhofen, Germany. In these experiments, we observed average telemetry delays of 200ms, and average video delays of 2s with peaks of up to 6s for all data. We also observed 75% frame loss for video streams due to bandwidth limits, giving 4fps video.

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DLR's robotics technologies for on-orbit servicing

Cited by 152 publications

References 7 publications

Cooperative control of modular space robots

Cooperative control of modular space robots

Robotics and AI-Enabled On-Orbit Operations With Future Generation of Small Satellites

A pilot study in vision-based augmented telemanipulation for remote assembly over high-latency networks

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