NASDA/DLR Joint Robot Experiment on ETS-7 (特集 ETS-7における宇宙ロボット実験) -- (解説)

概要

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This paper describes the GETEX (German ETS-VII EXperiments) joint robotics experiments, which has been conducted in April 99 at the first free-floating space robot on NASDAs ETS-VII satellite [1] . All the experiments have been performed and controlled from DLRs ground control system for space robotics applications which was connected to NASDAs ground station in Tsukuba. The telerobotic system combines sensor-based task-level teleprogramrning (as the basis for autonomy) with the features of teleoperation and shared autonomy. The hierarchical system structure is shown as well as the flexibility in programming and controlling each kind of space robotics application. This approach has led to a modular task-directed programming scheme, called Modular A & R Controller (MARCO), which provides a very flexible architecture to adapt the application-specific requirements to a given controlling scheme. 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 control system (vision) is explained. During GETEX we conducted experiments with relevance to the behavior of ETS-VII in free motion mode in order to verify the existing dynamic models.
社団法人日本ロボット学会の論文
1999-11-15