Design of Space Robotic Arm-Hand System and Operation Research

This paper presents a newly developed robotic Arm-Hand system, which is composed of robotic arm, dexterous hand, tele-operation system, central controller, and visual system. Using this system, a strategy of maintenance on-orbit is proposed, the position of the electrical connector is obtained though the visual system. The target position is sent from the tele-operation system to the central controller, the central controller control the robotic arm and hand to complete the maintenance task. A self-adaptive gravity compensation controller is proposed by analyzing and comparing the difference of gravity between the ground and space. The result shows the effectiveness of the strategy which proposed by this paper.

[1]  Fredrik Rehnmark,et al.  Robonaut: the 'short list' of technology hurdles , 2005, Computer.

[2]  Juyang Weng,et al.  Dav: a humanoid robot platform for autonomous mental development , 2002, Proceedings 2nd International Conference on Development and Learning. ICDL 2002.

[3]  Mitsushige Oda.  Space robot experiments on NASDA's ETS-VII satellite-preliminary overview of the experiment results , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[4]  Kenichi Ogawa,et al.  Honda humanoid robots development , 2007, Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences.

[5]  Ronald Allison,et al.  CANADARM: 20 Years of Mission Success Through Adaptation , 2001 .

[6]  Robert O. Ambrose,et al.  Robonaut 2 - The first humanoid robot in space , 2011, 2011 IEEE International Conference on Robotics and Automation.

[7]  R. Brooks,et al.  The cog project: building a humanoid robot , 1999 .

[8]  Phung K. Nguyen,et al.  RMS OPERATIONS SUPPORT: FROM THE SPACE SHUTTLE TO THE SPACE STATION , 2001 .

[9]  Jeff Weber,et al.  Domo: a force sensing humanoid robot for manipulation research , 2004, 4th IEEE/RAS International Conference on Humanoid Robots, 2004..

[10]  Alin Albu-Schäffer,et al.  A humanoid upper body system for two-handed manipulation , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[11]  Alin Albu-Schäffer,et al.  Experimental study on dynamic reactionless motions with DLR's humanoid robot Justin , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[12]  Gerd Hirzinger,et al.  ROTEX-the first remotely controlled robot in space , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[13]  Samuel B. Wilson,et al.  DARPA Orbital Express program: effecting a revolution in space-based systems , 2000, SPIE Optics + Photonics.

[14]  T. Takenaka,et al.  The development of Honda humanoid robot , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[15]  Adrian Abramovici.  The Special Purpose Dexterous Manipulator (SPDM) Systems Engineering Effort – A successful exercise in cheaper, faster and (hopefully) better systems engineering , 1998 .