ROKVISS - Robotics component verification on ISS current experimental results on parameter identification

A. Albu-Schäffer, W. Bertleff, B. Rebele, B. Schäfer, K. Landzettel, G. Hirzinger

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

60 Scopus citations

Abstract

ROKVISS, the German new space robotics technology experiment, was successfully installed outside at the Russian Service Module of the International Space Station (ISS) during an extravehicular space walk at the end of January 2005. Since February 2005 a two joint manipulator can be operated from ground via a direct radio link (Fig. 1). The aim of ROKVISS is the in flight verification of highly integrated modular robotic joints as well as the demonstration of different control modes, reaching from high system autonomy to force feedback teleoperation. A main goal of the experiment is the evaluation of the dynamical parameters (especially friction, motor constant and stiffness), as well as the monitoring of their evolution over the duration of the mission, in order to validate the long term performance of the system. The paper gives first a short overview of the experiment and in particular a description of the applied control structures. The main focus of the paper is on the joint parameter identification results obtained so far, during one year of operation.

Original languageEnglish
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages3879-3885
Number of pages7
DOIs
StatePublished - 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: 15 May 200619 May 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Conference

Conference2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Country/TerritoryUnited States
CityOrlando, FL
Period15/05/0619/05/06

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