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Closed Space Robotics Missions
Institut für Robotik und Mechatronik
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Closed Space Robotics Missions
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Closed Space Robotics Missions (in alphabetical order)
The AROMA study (2000-2002) mainly focused on the definition of robot configurations for various purposes in modular design, attached to different Mars rover types. DLR’s contribution to this ESA study consisted mainly of defining appropriate robotic devices for inspection and monitoring of facilities on Mars.
CIRCUS is a compact integrated robot controller unit and servo amplifier for further 7 degrees-of-freedom internal robot arms on the ISS and the attached grippers. Such an arm would be used for, e.g., repetitive payload handling.
Canada's contribution to the International Space Station (ISS) is the Mobile Servicing System (MSS), which is composed of the Mobile Remote Servicer Base System (MBS), the Space Station Remote Manipulator System (SSRMS) and the Special Purpose Dexterous Manipulator (SPDM).
Unmittelbar nach ROTEX begannen wir, Experimente zur Studie des dynamischen Verhaltens und der Rendezvous und Docking Fähigkeiten eines frei fliegenden Service Satelliten, bestehend aus einem Roboterarm montiert auf einem konventionellen Chaser, aufzubauen. Ein frei fliegender Tele-Roboter ESS (Experimenteller Service Satellit) soll einen defekten Satellit anfliegen, inspizieren und reparieren.
A nationally funded study was initiated in 1999 to design a servicing satellite for operations in low earth orbit (LEO). The background was to rescue the scientific satellite ROSAT (a German Röntgen satellite launched in 1991), that was built without having any thrusters for controlled de-orbiting.
In 1998 and 1999 the institute and its Italian industrial partner CARLO GAVAZZI developed subsystems for the ESA-project EUTEF (EUropean Technology Exposure Facility). Detailed concepts were elaborated concerning the mounting of pallets on the outer structure of ISS (either on the long grid structure or at the European COF-module), where a robot arm should perform operational payload handling; i.e., grasping payload-boxes and drawers, inserting them into measurement devices or exposing them in a dedicated way to space radiation and illumination (stars, sun, etc.).
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.
In 2000 the nationally funded study MISSIS (Mobile Inspection and Service System for ISS) aimed at the development of a mobile inspection and service system for the ISS Columbus module. The major goal was to demonstrate advanced technologies for security enhancement of the station while reducing extra-vehicular activities (EVA) and thus reserve more time for other research activities.
It seems that with our capture tool and docking technology as developed for ESS, we might create the first business case in on-orbit-servicing. Telecommunication satellites typically cost at least $250 million and are designed for an average on-orbit life-time of 10-15 years.
Autonomous planetary exploration will play an important role in future space missions. Therefore we have studied the feasibility of robotised planetary exploration in several ESA contracts (ROBUST, PSPE, ROSA-M). Within the European Payload Support for Planetary Exploration (PSPE) project, we have proposed a Lander spacecraft configuration and control concept, which should allow to perform geo-science operations on Mars, but with higher local autonomy than, e.g., the pathfinder’s sojourner rover.
A feasibility study was performed in 2002 for ESA on capturing a non-cooperative target satellite in geostationary orbit and its subsequent de-orbiting into a graveyard orbit. We were involved in the analysis of two strategies which both consisted of a chaser satellite deploying a tether, at the end of which was either a net or a robotic gripper to capture the target.
Already during the first mission contacts tele-presence experiments have been conducted. It turned out, that the overall round trip time for the tele-presence experiments is below 20ms. The experiments in tele-presence mode are very reliable with a high fidelity force feedback impression for the ground operator. This operational mode is a very good means for On Orbit Servicing (OOS) missions whereas the operator has to react immediately, based on the feedback information (video and force/torque). The stereo video transmission provides a realistic 3D imagery of the scene, though only as grey image. The presence feeling was improved by the realistic force-feedback provided by the DLR-Joystick.
ROKVISS - Robotics Component Verification on ISS
ROKVISS, Germany’s recent space robot project, was successfully launched on December 24, 2004 form Baikonur Cosmodrome. During a spacewalk on January 26, 2005, the ROKVISS experiment hardware was mounted to the outer wall of the Russian Svesda module.
ROTEX (Robot Technology Experiment on Spacelab D2-Mission) war der Startschuss für Deutschlands Teilnahme in der Weltraumautomation und Robotik. Es beinhaltete soviel sensorbasierte integrierte Autonomie wie möglich. Gleichzeitig sollte für viele Jahre die Mensch-Maschine-Kooperation basierend auf leistungsfähigen Telerobotikstrukturen die Grundlage für effektive, vom Boden aus gesteuerte Raumfahrtrobotiksysteme sein.
TECSAS / DEOS
Due to a programmatic reorientation of the of the TECSAS project, this activity was stopped in September 2006. Information concerning the subsequent project DEOS (Deutsche Orbitale Servicing Mission) will be presented on our web pages as soon as possible.
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