DLR - Institute of Robotics and Mechatronics

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GETEX

From April 19-21, 1999 DLR’s tele-robotic and programming system was used to control the robot arm on the Japanese ETS-VII satellite. The main goals of the German ETS-VII Technology Experiments (GETEX) were to verify our tele-robotic ground control station for remote control of a free-floating robot, in particular to perform a peg-in-hole experiment, using VR methods and the „vision&force“ control scheme, by closing sensor control loops directly on-board (force) and via the ground track (vision), thus proving our sensor-based autonomy features, to conduct experiments with relevance to the behavior of the ETS-VII in free motion mode and thus to verify the existing 6 DoF dynamic models for the interaction between a robot and its free-flying carrier satellite.

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