CAESAR: Space robotics technology for assembly, maintenance, and repair

Alexander Beyer; Gerhard Grunwald; Martin Heumos; Manfred Schedl; Ralph Bayer; Wieland Bertleff; Bernhard Brunner; Robert Burger; Joerg Butterfass; Robin Gruber; Thomas Gumpert; Franz Hacker; Erich Kraemer; Maximilian Maier; Sascha Moser; Josef Reill; Maximo Roa; Hans Juergen Sedlmayr; Nikolaus Seitz; Martin Stelzer; Andreas Stemmer; Gabriel TubioManteiga; Tilman Wimmer; Markus Grebenstein; Christian Ott; Alin Albu-Schaeffer

CAESAR: Space robotics technology for assembly, maintenance, and repair

Alexander Beyer, Gerhard Grunwald, Martin Heumos, Manfred Schedl, Ralph Bayer, Wieland Bertleff, Bernhard Brunner, Robert Burger, Joerg Butterfass, Robin Gruber, Thomas Gumpert, Franz Hacker, Erich Kraemer, Maximilian Maier, Sascha Moser, Josef Reill, Maximo Roa, Hans Juergen Sedlmayr, Nikolaus Seitz, Martin StelzerAndreas Stemmer, Gabriel TubioManteiga, Tilman Wimmer, Markus Grebenstein, Christian Ott, Alin Albu-Schaeffer

Deutsches Zentrum für Luft- und Raumfahrt (DLR)

Research output: Contribution to journal › Conference article › peer-review

33 Scopus citations

Abstract

The Compliant Assistance and Exploration SpAce Robot (CAESAR) is DLR's consistent continuation in the development of force/torque controlled robot systems. The basis is DLR's world-famous light-weight robot technology (LWR III) which was successfully transferred to KUKA, one of the world's leading suppliers of robotics. CAESAR is the space qualified equivalent to the current service robot systems for manufacturing and human-robot cooperation. It is designed for a variety of on-orbit services e.g. assembly, maintenance, repair, and debris removal in LEO/GEO. The dexterity and diversity of CAESAR will push the performance of space robotics to the next level in a comparable way as the current intelligent and sensor based service robots changed robotics on earth.

Original language	English
Journal	Proceedings of the International Astronautical Congress, IAC
Volume	2018-October
State	Published - 2018
Externally published	Yes
Event	69th International Astronautical Congress: #InvolvingEveryone, IAC 2018 - Bremen, Germany Duration: 1 Oct 2018 → 5 Oct 2018

Keywords

Assembly
Debris Removal
Impedance Control
Maintenance
Space Robotics
Vibration Damping

Cite this

Beyer, A., Grunwald, G., Heumos, M., Schedl, M., Bayer, R., Bertleff, W., Brunner, B., Burger, R., Butterfass, J., Gruber, R., Gumpert, T., Hacker, F., Kraemer, E., Maier, M., Moser, S., Reill, J., Roa, M., Sedlmayr, H. J., Seitz, N., ... Albu-Schaeffer, A. (2018). CAESAR: Space robotics technology for assembly, maintenance, and repair. Proceedings of the International Astronautical Congress, IAC, 2018-October.

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title = "CAESAR: Space robotics technology for assembly, maintenance, and repair",

abstract = "The Compliant Assistance and Exploration SpAce Robot (CAESAR) is DLR's consistent continuation in the development of force/torque controlled robot systems. The basis is DLR's world-famous light-weight robot technology (LWR III) which was successfully transferred to KUKA, one of the world's leading suppliers of robotics. CAESAR is the space qualified equivalent to the current service robot systems for manufacturing and human-robot cooperation. It is designed for a variety of on-orbit services e.g. assembly, maintenance, repair, and debris removal in LEO/GEO. The dexterity and diversity of CAESAR will push the performance of space robotics to the next level in a comparable way as the current intelligent and sensor based service robots changed robotics on earth.",

keywords = "Assembly, Debris Removal, Impedance Control, Maintenance, Space Robotics, Vibration Damping",

author = "Alexander Beyer and Gerhard Grunwald and Martin Heumos and Manfred Schedl and Ralph Bayer and Wieland Bertleff and Bernhard Brunner and Robert Burger and Joerg Butterfass and Robin Gruber and Thomas Gumpert and Franz Hacker and Erich Kraemer and Maximilian Maier and Sascha Moser and Josef Reill and Maximo Roa and Sedlmayr, {Hans Juergen} and Nikolaus Seitz and Martin Stelzer and Andreas Stemmer and Gabriel TubioManteiga and Tilman Wimmer and Markus Grebenstein and Christian Ott and Alin Albu-Schaeffer",

note = "Publisher Copyright: Copyright {\textcopyright} 2018 by the International Astronautical Federation (IAF). All rights reserved.; 69th International Astronautical Congress: #InvolvingEveryone, IAC 2018 ; Conference date: 01-10-2018 Through 05-10-2018",

year = "2018",

language = "English",

volume = "2018-October",

journal = "Proceedings of the International Astronautical Congress, IAC",

issn = "0074-1795",

publisher = "International Astronautical Federation, IAF",

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Beyer, A, Grunwald, G, Heumos, M, Schedl, M, Bayer, R, Bertleff, W, Brunner, B, Burger, R, Butterfass, J, Gruber, R, Gumpert, T, Hacker, F, Kraemer, E, Maier, M, Moser, S, Reill, J, Roa, M, Sedlmayr, HJ, Seitz, N, Stelzer, M, Stemmer, A, TubioManteiga, G, Wimmer, T, Grebenstein, M, Ott, C & Albu-Schaeffer, A 2018, 'CAESAR: Space robotics technology for assembly, maintenance, and repair', Proceedings of the International Astronautical Congress, IAC, vol. 2018-October.

TY - JOUR

T1 - CAESAR

T2 - 69th International Astronautical Congress: #InvolvingEveryone, IAC 2018

AU - Beyer, Alexander

AU - Grunwald, Gerhard

AU - Heumos, Martin

AU - Schedl, Manfred

AU - Bayer, Ralph

AU - Bertleff, Wieland

AU - Brunner, Bernhard

AU - Burger, Robert

AU - Butterfass, Joerg

AU - Gruber, Robin

AU - Gumpert, Thomas

AU - Hacker, Franz

AU - Kraemer, Erich

AU - Maier, Maximilian

AU - Moser, Sascha

AU - Reill, Josef

AU - Roa, Maximo

AU - Sedlmayr, Hans Juergen

AU - Seitz, Nikolaus

AU - Stelzer, Martin

AU - Stemmer, Andreas

AU - TubioManteiga, Gabriel

AU - Wimmer, Tilman

AU - Grebenstein, Markus

AU - Ott, Christian

AU - Albu-Schaeffer, Alin

PY - 2018

Y1 - 2018

N2 - The Compliant Assistance and Exploration SpAce Robot (CAESAR) is DLR's consistent continuation in the development of force/torque controlled robot systems. The basis is DLR's world-famous light-weight robot technology (LWR III) which was successfully transferred to KUKA, one of the world's leading suppliers of robotics. CAESAR is the space qualified equivalent to the current service robot systems for manufacturing and human-robot cooperation. It is designed for a variety of on-orbit services e.g. assembly, maintenance, repair, and debris removal in LEO/GEO. The dexterity and diversity of CAESAR will push the performance of space robotics to the next level in a comparable way as the current intelligent and sensor based service robots changed robotics on earth.

AB - The Compliant Assistance and Exploration SpAce Robot (CAESAR) is DLR's consistent continuation in the development of force/torque controlled robot systems. The basis is DLR's world-famous light-weight robot technology (LWR III) which was successfully transferred to KUKA, one of the world's leading suppliers of robotics. CAESAR is the space qualified equivalent to the current service robot systems for manufacturing and human-robot cooperation. It is designed for a variety of on-orbit services e.g. assembly, maintenance, repair, and debris removal in LEO/GEO. The dexterity and diversity of CAESAR will push the performance of space robotics to the next level in a comparable way as the current intelligent and sensor based service robots changed robotics on earth.

KW - Assembly

KW - Debris Removal

KW - Impedance Control

KW - Maintenance

KW - Space Robotics

KW - Vibration Damping

UR - http://www.scopus.com/inward/record.url?scp=85065318479&partnerID=8YFLogxK

M3 - Conference article

AN - SCOPUS:85065318479

SN - 0074-1795

VL - 2018-October

JO - Proceedings of the International Astronautical Congress, IAC

JF - Proceedings of the International Astronautical Congress, IAC

Y2 - 1 October 2018 through 5 October 2018

ER -

CAESAR: Space robotics technology for assembly, maintenance, and repair

Abstract

Keywords

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