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IEEE International Conference on robotics and Automation (ICRA)

作者： G. Hirzinger B. Brunner R. Lampariello K. Landzettel J. Schott B.-M. Steinmetz Institute of Robotics and Mechatronics German Aerospace Center WeBling Germany

Outlines the situation in orbital space robotics with special reference to what DLR (German Aerospace Center) has contributed to the field. After our ROTEX experiment, the first remotely controlled space robot inside the space shuttle, the Japanese ETS VII has now been the first remotely controlled free-flying space robot. We had the opportunity to control this arm from the ground, too, including the use of the robot arm as a satellite attitude controller. It is outlined how it is now time to take the next steps towards operational ground-controlled space robot systems, presumably first on the International Space Station, but later on as free flying robonauts assisting or even replacing extra vehicular activities.

关键词： orbital robotics Space technology Humans Space shuttles Robot control Intelligent robots robotics and automation Robotic assembly Machine intelligence Telerobotics

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CONTACT CONTROL CONCEPTS IN MANIPULATION robotics - AN OVERVIEW

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1994年第1期41卷 12-24页

作者： VUKOBRATOVIC, M TUNESKI, A Robotics Laboratory Mihajlo Pupin Institut Belgrade Serbia Mechanical Engineering Faculty University Sv. Kiril i Metodij Skopje Skopje Macedonia

This paper presents the state of the art in the control of robotic manipulators in constrained motion tasks. Contact control concepts are classified using different criteria, and their main characteristics are analyzed. For each of the presented contact control concepts, the essential characteristics are stated. The paper covers some early ideas and their later improvements, as well as recent trends in this field. The advantages and drawbacks of the various control schemes are outlined, and they are compared from the standpoint of their implementation issues. In the paper, all characteristic results in the stability analysis of robotic manipulators in the constrained motion tasks are briefly reported. In the Conclusion, a new approach to the correct solution of contact tasks control is mentioned as well.

关键词： orbital robotics Motion control Robotic assembly robotics and automation Robot control Manipulators Force control Machining Stability analysis Motion analysis

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INTELLIGENT robotics IN MANUFACTURING, SERVICE, AND REHABILITATION - AN OVERVIEW

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1994年第1期41卷 4-11页

作者： GRUVER, WA School of Engineering Science Simon Fraser University Burnaby BC Canada

Advances in intelligent robotics are resulting in a new generation of programmable, sensory-interactive, computer-controlled machines capable of operating with human supervision or autonomously from sensed information. The design and integration of these machines require knowledge of actuators, control, mechanisms, mobility, programming, and sensors. The application of intelligent robotic technologies can increase the productivity, safety, and the quality of life for people in a wide range of tasks for land, space, and undersea environments. This paper provides an overview of recent developments of intelligent robotics to manufacturing systems, robotic aids for the disabled, and service. The references highlight advances in robot control, sensor integration, mechanical hands, manufacturing automation, walking machines, and powered prostheses.

关键词： Intelligent robots Rehabilitation robotics Manufacturing Intelligent sensors Robot sensing systems Machine intelligence Intelligent actuators orbital robotics Space technology robotics and automation

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AUTOMATION AND robotics FOR THE SPACE STATION - RECOMMENDATIONS

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IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS 1985年第5期21卷 735-743页

作者： [Anonymous] NASA Automation & Robotics Panel USA NASA Automation & Robotics Panel USA

On January 25, 1984, President Reagan announced a United States program to place a permanent space station in orbit in 1992. The Congressional bill appropriating the funding for this program requires that a significant portion of the program funds be for the development of new automation and robotics technologies not in use on existing spacecraft. To assist it in developing plans to meet this requirement, NASA established an Automation and robotics Panel in August 1984. This paper presents verbatim the Executive Summary of the Panel's report to NASA. It should be recognized that this report to NASA is advisory only, and that for a variety of reasons, including funding, what is actually implemented will certainly differ in many respects from the recommendations. Nevertheless, the report represents the thinking of a prestigious group of scholars and practitioners in automation and robotics, and many of the recommendations undoubtedly will be implemented. A summary of the NASA recommendations will be published following their official release.

关键词： robotics and automation orbital robotics Space stations NASA Space technology Costs Space vehicles Research and development management Technology management Construction industry

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Common Data Fusion Framework: An open-source Common Data Fusion Framework for space robotics

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INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 2020年第2期17卷

作者： Dominguez, Raul Post, Mark Fabisch, Alexander Michalec, Romain Bissonnette, Vincent Govindaraj, Shashank Robot Innovat Ctr DKFI Robert Hooke Str 1 D-28359 Bremen Germany Univ York Dept Elect Engn York N Yorkshire England Univ Strathclyde Dept Design Manufacture & Engn Management Glasgow Lanark Scotland Magellium SAS Ramonville St Agne France Space Applicat Serv NV Zaventem Belgium

Multisensor data fusion plays a vital role in providing autonomous systems with environmental information crucial for reliable functioning. In this article, we summarize the modular structure of the newly developed and released Common Data Fusion Framework and explain how it is used. Sensor data are registered and fused within the Common Data Fusion Framework to produce comprehensive 3D environment representations and pose estimations. The proposed software components to model this process in a reusable manner are presented through a complete overview of the framework, then the provided data fusion algorithms are listed, and through the case of 3D reconstruction from 2D images, the Common Data Fusion Framework approach is exemplified. The Common Data Fusion Framework has been deployed and tested in various scenarios that include robots performing operations of planetary rover exploration and tracking of orbiting satellites.

关键词： Multisensor data fusion robotics software frameworks planetary robotics orbital robotics

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Tetrahedral robotics for space exploration

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IEEE AEROSPACE AND ELECTRONIC SYSTEMS MAGAZINE 2007年第6期22卷 22-30页

作者： Curtis, Steven Brandt, Matthew Bowers, Greg Brown, Gary Cheung, Cynthia Cooperider, Caner Desch, Mike Desch, Noah Dorband, John Gregory, Kyle Lee, Ken Lunsford, Allan Minetto, Fred Truszkowski, Walt Wesenberg, Richard Vranish, John Abrahantes, Miguel Clark, Pamela Capon, Tom Weaker, Michael Watson, Richard Olivier, Philip Rilee, Michael L. NASA Goddard Space Flight Ctr Lab Planetary Magnetospheres Greenbelt MD 20771 USA Hope Coll Dept Engn Holland MI 49423 USA Catholic Univ Amer Washington DC 20064 USA Mercer Univ Sch Engn Macon GA 31207 USA NASA Goddard Space Flight Ctr Comp Sci Corp Natl Ctr Computat Sci Greenbelt MD 20771 USA

A reconfigurable space filling robotic architecture has a wide range of possible applications. One of the more intriguing possibilities is mobility in very irregular and otherwise impassable terrain. NASA Goddard Space Flight Center is developing the third generation of its Addressable Reconfigurable Technology (ART) Tetrahedral robotics Architecture. An ART-based variable geometry truss consisting of 12 tetrahedral elements made from 26 smart struts on a wireless network has been developed. The primary goal of this development is the demonstration of a new kind of robotic mobility that can provide access and articulation that complement existing capabilities. An initial set of gaits and other behaviors are being tested, and accommodations for payloads such as sensor and telemetry packages are being studied. Herein, we describe our experience with the ART Tetrahedral robotics Architecture and the improvements implemented in the third generation of this technology. Applications of these robots to space exploration and the tradeoffs involved with this architecture will be discussed.

关键词： orbital robotics Space exploration Space technology Robot sensing systems Subspace constraints Filling NASA Computational geometry Mobile robots Testing

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External servicing testbed for automation and robotics

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IEEE robotics & AUTOMATION MAGAZINE 1996年第1期3卷 13-23页

作者： Colombina, G Didot, F Magnani, GA Rusconi, A EUROPEAN SPACE AGCY RES & TECHNOL CTR 2200 AG NOORDWIJK NETHERLANDS POLITECN MILAN I-20133 MILAN ITALY

The External Servicing Testbed for Automation and robotics (ESTAR) was developed on behalf of the European Space Agency (ESA) as an open system suitable for easy implementation of new control concepts, algorithms and operational procedures, and integration of new components and subsystems. In this article, the authors present experimental results relevant to the execution of a reference task for space robotics, namely the replacement of an orbital Replacement unit (ORU).

关键词： robotics and automation Automatic testing orbital robotics Space technology Robotic assembly Robots Payloads Automatic control Control systems Laboratories

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SENSOR-BASED SPACE robotics - ROTEX AND ITS TELEROBOTIC FEATURES

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IEEE TRANSACTIONS ON robotics AND AUTOMATION 1993年第5期9卷 649-663页

作者： HIRZINGER, G BRUNNER, B DIETRICH, J HEINDL, J Institute for Robotics and System Dynamics German Aerospace Research Establishment Wessling Germany

In early 1993 the space robot technology experiment ROTEX has flown with space-shuttle COLUMBIA (spacelab mission D2 on flight STS-55 from April 26 to May 6). A multisensory robot on board the space-craft successfully worked in autonomous modes, teleoperated by astronauts, as well as in different telerobotic ground control modes. These include on-line teleoperation and telesensor-programming, a task-level oriented programming technique involving ''learning by showing'' concepts in a virtual environment. The robot's key features were its multisensory gripper and the local sensory feedback schemes that are the basis for shared autonomy. The corresponding man-machine interface concepts using a 6-DOF nonforce-reflecting control ball and visual feedback to the human operator are explained. Stereographic simulation on ground was used to predict not only the robot's free motion but even the sensor based path refinement on board;prototype tasks performed by this space robot were the assembly of a truss structure, connecting/disconnecting an electrical plug (orbit replaceable unit exchange ORU), and grasping free-floating objects.

关键词： Robot sensing systems orbital robotics Telerobotics Space technology Feedback Robotic assembly Space vehicles Robot programming Virtual environment Grippers

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MANNED SPACECRAFT AUTOMATION AND robotics

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PROCEEDINGS OF THE IEEE 1987年第3期75卷 417-426页

作者： ERICKSON, JD Artificial Intelligence and Information Sciences Office NASA Lyndon B. Johnson Space Center Houston TX USA

The Space Station holds promise of being a showcase user and driver of advanced automation and robotics technology. The author addresses the advances in automation and robotics from the Space Shuttle--with its high-reliability redundancy management and fault-tolerance design and its remote manipulator system--to the projected knowledge-based systems for monitoring, control, fault diagnosis, planning, and scheduling, and the telerobotic systems of the future Space Station.

关键词： robotics and automation Space vehicles orbital robotics Space stations Space technology Design automation Space shuttles Redundancy Knowledge management Project management

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A robotics toolbox for MATLAB

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IEEE robotics & AUTOMATION MAGAZINE 1996年第1期3卷 24-32页

作者： Corke, PI Commonwealth Scientific and Industrial Research Organisation Canberra ACT AU

The robotics Toolbox is a software package that allows a MATLAB user to readily create and manipulate datatypes fundamental to robotics such as homogeneous transformations, quaternions and trajectories. Functions provided, for arbitrary serial-link manipulators, include forward and inverse kinematics, Jacobians, and forward and inverse dynamics. This article introduces the Toolbox in tutorial form, with examples chosen to demonstrate a range of capabilities. The complete Toolbox and documentation is freely available via anonymous ftp.

关键词： Computer languages Manipulator dynamics Robot kinematics MATLAB Jacobian matrices robotics and automation Quaternions orbital robotics Software packages Documentation

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