Multisensory Telerobotic Concepts

Proceedings of the IEEE International Workshop on Intelligent Motion Control Pub Date : 1990-08-20 DOI:10.1109/IMC.1990.687273

G. Hirzinger, J. Dietrich, B. Brunner

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引用次数: 4

Abstract

The telerobotic concepts as presently developed for a space robot technology experiment ROTEX to fly with the next spacelab mission D2 in 1992 are outlined; the robot is supposed to work in an autonomous mode, tdeoperated by astronauts, and teleoperated from ground. One of its key features is a recently developed multisensory gripper with highly integrated, miniaturized sensor technology including stiff and compliant six-axis force-torque-sensing, 9 laser range finders, 1,actile arrays, grasp force control using a new electrical gripper drive and a stereo camera pair. Sensory feedback schemes and "machine interface concepts using a 6 dof control ball and stereo imaging is explained. Sensory simulation on ground using advanced stereo graphics is supposed to predict the sensor based pat11 refinement on board, while realtime fusion . of stereo images and laserscan information helps to predict the motion of floating objects to be grasped. Finally a light-weight robot concept with new in1 elligent joint drives and grip-structure composite arms for the astronaut training onground is discussed.

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多感官遥控机器人概念

概述了目前为空间机器人技术实验ROTEX开发的遥控机器人概念，该实验将与1992年的下一次空间实验室任务D2一起飞行;该机器人应该以自主模式工作，由宇航员操作，并从地面远程操作。它的主要特点之一是最近开发的多感官抓手，具有高度集成的小型化传感器技术，包括刚性和柔性六轴力-扭矩传感，9个激光测距仪，1个活动阵列，使用新的电子抓手驱动器和立体相机对进行抓力控制。感官反馈方案和“机器接口的概念，使用6度控制球和立体成像解释。利用先进的立体图形技术在地面上进行感官模拟，在实时融合的同时，预测基于传感器的地面定位。立体图像和激光扫描信息有助于预测要抓住的漂浮物的运动。最后讨论了一种具有新型智能关节驱动和抓握结构复合臂的轻型宇航员地面训练机器人概念。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proceedings of the IEEE International Workshop on Intelligent Motion Control

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