TY - GEN
T1 - ROKVISS - Robotics component verification on ISS current experimental results on parameter identification
AU - Albu-Schäffer, A.
AU - Bertleff, W.
AU - Rebele, B.
AU - Schäfer, B.
AU - Landzettel, K.
AU - Hirzinger, G.
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=33845673795&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2006.1642296
DO - 10.1109/ROBOT.2006.1642296
M3 - Conference contribution
AN - SCOPUS:33845673795
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3879
EP - 3885
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -