Skip to main content
SpringerLink
Log in

DLR’s Advanced Telerobotic Concepts and Experiments for On-Orbit Servicing

  • Chapter
Advances in Telerobotics

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 31))

Summary

Space robotics will become a key technology for the exploration of outer space and the operation and maintenance of space stations, satellites and other platforms, saving costs and relieving man from dangerous tasks. But we do not have to wait until robots are really autonomous or intelligent, since by modern teleoperation and telepresence we are able to remotely control robot systems from the ground in the sense of “prolonging man’s arm into space”. Humans, with their several hundred thousand years of evolution, will not adapt themselves to the hostile space environment, whilst robots, which have only been developed for just over 40 years, can be much more easily adapted to such an environment. As presented within this work, few pioneering telerobotic experiments like ROTEX, the first remotely controlled space robot system, ETS-VII, the first free-floating space robot experiment, or ROKVISS, Germany’s recent advanced space robot experiment on the International Space Station, have been proposed and conducted on the way towards a space robot assistant system for the usage as an artificial astronaut to perform On-Orbit Servicing (OOS) tasks.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 129.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 169.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 169.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. S. Hayati and S.T. Venkataraman. Design and Implementation of a Robot Control System with Traded and Shared Control Capability. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 3:1310–1315, 1989.

    Google Scholar 

  2. L. Conway, R. Volz, and M. Walker. Tele-Autonomous Systems: Methods and Architectures for Intermingling Autonomous and Telerobotic Technology. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2:1121–1130, 1987.

    Google Scholar 

  3. D. King. On-orbit servicing business; an industry vision. In Proc. of the 1st Bilateral DLR-CSA Workshop on On-Orbit Servicing of Space Infrastructure Elements via Automation & Robotics Technologies (OOS 2002) “Defining a Way Forward”, Cologne, Germany, 2002.

    Google Scholar 

  4. A. Ellery. Handling technology: technology of robotic in-orbit servicing. In Proc. of the 1st Bilateral DLR-CSA Workshop on On-Orbit Servicing of Space Infrastructure Elements via Automation & Robotics Technologies (OOS 2002) “Defining a Way Forward”, Cologne, Germany, 2002.

    Google Scholar 

  5. J.-C. Piedboeuf. On-Orbit Servicing and Beyond: A Canadian Perspective. In Proc. of the 1st Bilateral DLR-CSA Workshop on On-Orbit Servicing of Space Infrastructure Elements via Automation & Robotics Technologies (OOS 2002) “Defining a Way Forward”, Cologne, Germany, 2002.

    Google Scholar 

  6. J. Andary and P. Spidaliere. Development test flight of the Flight Telerobotic Servicer: design description and lessons learned. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2:1121–1130, 1993.

    Google Scholar 

  7. J. Artigas, C. Preusche, and G. Hirzinger. Wave Variables based Bilateral Control with a Time Delay Model for Space Robot Applications. In Robotik 2004, VDIBericht, München, Germany, 1841:101–108, 2004.

    Google Scholar 

  8. B. Brunner, K. Arbter, and G. Hirzinger. Task Directed Programming of Sensor Based Robots. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2:1080–1087, 1994.

    Article  Google Scholar 

  9. B. Brunner, K. Landzettel, B.-M. Steinmetz, and G. Hirzinger. Tele-Sensor-Programming-A task-directed programming approach for sensor-based space robots. In ICAR-The 7th International Conference on Advanced Robotics, Sant Feliu de Guixols, Catalonia (Spain), 1995.

    Google Scholar 

  10. B. Brunner, K. Landzettel, G. Schreiber, B.-M. Steinmetz, and G. Hirzinger. A universal Task-Level Ground Control and Programming System for Space Robot Applications-The MARCO Concept and its Application to the ETS-VII Project. In Proc. of the 5th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), ESTEC, Noordwijk, The Netherlands, pages 507–514, 1999.

    Google Scholar 

  11. G. Hirzinger, K. Landzettel, J. Heindl, and J. Dietrich. ROTEX-The First Robot in Space. In The 5th European Symposium on Space Environmental Control Systems and 24th International Conference on Environmental Systems (ICES), Friedrichshafen, Germany, 1994.

    Google Scholar 

  12. Ch. Fragerer and G. Hirzinger. Predicitve Telerobotic Concept for Grasping a Floating Object. In International Federation of Automatic Control, Spacecraft Automation and On-Board Autonomous Mission Control, Darmstadt, Germany, 1992.

    Google Scholar 

  13. G. Hirzinger, B. Brunner, J. Dietrich and J. Heindl. Sensor-Based Space Robotics-ROTEX and Its Telerobotic Features. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 9:649–663, 1993.

    Article  Google Scholar 

  14. G. Hirzinger. Multisensory Shared Autonomy and Tele-Sensor-Programming-Key Issuses in Space Robotics. In IAS-3 International Conference in Intelligent Autonomous Systems, Pittsburgh, PA, USA, 1993.

    Google Scholar 

  15. G. Hirzinger, K. Landzettel, and Ch. Fagerer. Telerobotics with large time delays-the ROTEX experience. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), München, Germany, 1994.

    Google Scholar 

  16. E. Freund and J. Rossmann. Space Robot Commanding and Supervision by means of Projective Virtual Reality: The ERA Experiences. In Proc. of the 7th Conference on Telemanipulator and Telepresence Technologies, pages 312–322, 2000.

    Google Scholar 

  17. G. Hirzinger, K. Landzettel, D. Reintsema, C. Preusche, A. Albu-Schäffer, B. Rebele, and M. Turk. ROKVISS-Robotics Component Verification on ISS. In Proc. of the 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), München, Germany, 2005.

    Google Scholar 

  18. G. Hirzinger, B. Brunner, R. Lampariello, K. Landzettel, J. Schott, and B.-M. Steinmetz. Advances in Orbital Robotics. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), pages 898–907, 2000.

    Google Scholar 

  19. G. Hirzinger, B. Brunner, R. Lampariello, K. Landzettel, G. Schreiber et al. A Unified Ground Control and Programming Methodology for Space Robotics Applications-Demonstrations on ETS-VII. In Proc. of the International Symposium on Robotics (ISR 2000), pages 422–427, 2000.

    Google Scholar 

  20. G. Hirzinger, K. Landzettel, B. Brunner, M. Fischer, C. Preusche, D. Reintsema, A. Albu-Schäffer, G. Schreiber, and B.M. Steinmetz. DLR’s Robotics Technologies for On-Orbit Servicing. In Advanced Robotics, Special Issue on Service Robots in Space (1), 18:139–174, 2004.

    Google Scholar 

  21. R. Lampariello and G. Hirzinger. Freeflying Robots-Inertial Parameters Identification and Control Strategies. In Proc. of ASTRA 2000-The 6th ESA Workshop on Advanced Space Technologies for Robotics and Automation, Noordwijk, The Netherlands, 2000.

    Google Scholar 

  22. G. Hirzinger, K. Landzettel, B. Brunner, I. Schaefer, M. Fischer et al. DLR’s Robotics Lab-Recent developements in Space Robotics. In Proc. of the 5th International Symposium on Artificial Intelligence, Robotics and Automation (iSAIRAS), Noordwijk, The Netherlands, 1999.

    Google Scholar 

  23. K. Landzettel, B. Brunner, R. Lampariello, C. Preusche, D. Reintsema, and G. Hirzinger. System Prerequisites and Operational Modes for On-Orbit-Servicing. In The International Symposium on Space Technology and Science (ISTS), Miyazaki, Japan, 2004.

    Google Scholar 

  24. K. Landzettel, B. Brunner, K. Deutrich, G. Hirzinger, G. Schreiber, and B.-M. Steinmetz. DLR’s Experiments on the ETS VII Space Robot Mission. In Proc. of the 9th International Conference on Advanced Robotics (ICAR), Tokyo, Japan

    Google Scholar 

  25. R. Lampariello, S. Agrawal, and G. Hirzinger. Optimal Motion Planning of Free-Flying Robots. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2003.

    Google Scholar 

  26. B. Rebele, R. Krenn, and B. Schäfer. Grasping Strategies and Dynamic Aspects in Satellite Capturing by Robotic Manipulator. In Proc. of ASTRA 2002-The 7th ESA Workshop on Advanced Space Technologies for Robotics and Automation, Noordwijk, The Netherlands, 2002.

    Google Scholar 

  27. K. Arbter, J. Langwald, G. Hirzinger, G.Q. Wei, and P. Wunsch. Proven Techniques for Robust Visual Servo Control. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 1998.

    Google Scholar 

  28. B. Hannaford and J.H. Ryu. Time Domain Passivity Control of Haptic Interfaces. IEEE-Transactions on Robotics and Automation, 18:1–10, 2002.

    Article  Google Scholar 

  29. J.H. Ryu, B. Hannaford, C. Preusche, and G. Hirzinger. Time Domain Passivity Control with Reference Energy Behavior. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 3:2932–2937, 2003.

    Google Scholar 

  30. C. Preusche, G. Hirzinger, J.H. Ryu, and B. Hannaford. Time Domain Passivity Control for 6 Degrees of Freedom Haptic Displays. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 3:2944–2949, 2003.

    Google Scholar 

  31. G. Hirzinger, N. Sporer, A. Albu-Schäffer, M. Hähnle, R. Krenn, A. Pascucci, and M. Schedl. DLR’s torque-controlled light weight robot III-are we reaching the technological limits now?. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), pages 1710–1716, 2002.

    Google Scholar 

  32. G. Hirzinger, N. Sporer, M. Schedl, J. Butterfaß, and M. Grebenstein. Robotics and Mechatronics in Aerospace. In The 7th International Workshop on Advanced Motion Control (AMC), pages 19–27, 2002.

    Google Scholar 

  33. G. Hirzinger, B. Brunner, J. Dietrich, and J. Heindl. ROTEX-The First Remotely Controlled Robot in Space. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 3:2604–2611, 1994.

    Google Scholar 

  34. G. Hirzinger, J. Butterfaß, M. Grebenstein, I. Schaefer, N. Sporer, M. Fischer, H. Liu, A. Albu-Schäffer, M. Schedl, and P. Neumann. Space Robotics-Driver for a new mechatronic Generation of light-weight arms and multifingered hands. In Proc. of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pages 1160–1168, 2001.

    Google Scholar 

  35. G. Hirzinger, K. Landzettel, B. Brunner, M. Fischer, C. Preusche, D. Reintsema, A. Albu-Schäffer, G. Schreiber, and B.-M. Steinmetz. DLR’s robotics technologies for on-orbit servicing. Advanced Robotics, RSJ-The International Journal of the Robotics Society of Japan, 18(2):139–174. VSP, Netherlands, ISSN 0169-1864, 2004.

    Google Scholar 

  36. B. Schäfer and M. Lösch. Simulation of Elastic Space Manipulator Dynamics During Satellite Capturing. In Proc. of the 4th International Conference of the European Association for Structural Dynamics (EURODYN’ 99), Prague, Czech Republic, 1999.

    Google Scholar 

  37. B. Schäfer, M. Lösch, and K. Landzettel. Simulation of Manipulator Deployment and Satellite Capturing Dynamics. In Proc. of the 5th ESA Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA 98), Noordwijk, The Netherlands, 1998.

    Google Scholar 

  38. R. WLongman, R.E. Lindberg and M.F. Zedd. Satellite-mounted Robot Manipulators-New kinematic and Reaction Moment Compensation. International Journal of Robotics Research (3), 1987.

    Google Scholar 

  39. S. Dubowsky and E. Papadopoulos. The Kinematics, Dynamics and Control of Free-Flying and Free-Floating Space Robotic Systems. IEEE Transactions on Robotics and Automation (5), 1993.

    Google Scholar 

  40. H.G. McCain and J.F. Andary. The Flight Telerobotic Servicer Project and systems overview. In Electronics and Aerospace Conference, 18(2):139–174, 1988.

    Google Scholar 

  41. M. Oda and D. Toshitsugu. Teleoperation System of ETS-VII Robot Experiment Satellite. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 3:1644–50, 1997.

    Google Scholar 

  42. M. Oda, T. Doi and K. Wakata. Tele-manipulation of a satellite mounted robot by an on-ground astronaut. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2:1891–96, 2001.

    Google Scholar 

  43. M. Oda. Space Robot Experiments on NASDAs ETS-VII Satellite. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2:1390–1395, 1999.

    MathSciNet  Google Scholar 

  44. W.-K. Yoon, T. Goshozono, H. Kawabe, M. Kinami, Y. Tsumaki, M. Uchiyama, M. Oda, and T. Doi. Model-based teleoperation of a Space robot on ETS-VII using a haptic interface. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 1:407–12, 2001.

    Google Scholar 

  45. I. Kawano, M. Mokuno, et. al. Result of Autonomous Rendezvous Docking Experiment of Engineering Test Satellite VII. Journal of Spacecraft and Rockets, 38(1):105–111, 2001.

    Article  Google Scholar 

  46. I. Kawano, M. Mokuno, T. Miyano, and T. Suzuki. Analysis and Evaluation of GPS Relative Navigation Using Carrier Phase for RVD Experiment Satellite of ETS-VII. In ION GPS 2000-The 13th International Technical Meeting of the Satellite Division of the Institute of Navigation, pages 1655–60, 2000.

    Google Scholar 

  47. G. Visentin and F. Didot. Testing Space Robotics on the Japanese ETS-VII Satellite. In ESA Bulletin, 99:61–65, 1999.

    Google Scholar 

  48. I. Kawano, et. al. First Results of Autonomous Rendezvous Docking Experiments on NASDA’s ETS-VII Satellite. In Proceedings of the 49th International Astronautical Congress, Melbourne, Australia, 1998.

    Google Scholar 

  49. Y. Fukushima, N. Inaba, and M. Oda. Capture and berthing experiment of a massive object using ETS-VII’s space robot-World’s first on-orbit satellite capture experiment by space robot system. In Proceedings of AIAA/AAS Astrodynamics Specialist Conference, Denver, CO, 2000.

    Google Scholar 

  50. K. Yoshida, K. Hashizume, and S. Abiko. Zero Reaction Maneuver: Flight Validation with ETS-VII Space Robot and Extension to Kinematically Redundant Arm. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 1:441–46, 2001.

    Google Scholar 

  51. T. Imaida, Y. Yokokohji, T. Doi, M. Oda, and T. Yoshikawa. Ground-Space Bilateral Teleoperation Experiment Using ETS-VII Robot Arm with Direct Kinesthetic Coupling. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 1:1031–1038, 2001.

    Google Scholar 

  52. Y. Yokokohji, T. Imaida, Y. Iida, T. Doi, M. Oda, and T. Yoshikawa. Bilateral Teleoperation: Towards Fine Manipulation with Large Time Delay. (ISER), pages 11–20, 2000.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen, D-82234, Wessling, Germany

    Detlef Reintsema, Klaus Landzettel & Gerd Hirzinger

Authors
  1. Detlef Reintsema
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Klaus Landzettel
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Gerd Hirzinger
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Dpto. de Automática, Ingeniería Electrónica e Informática Industrial, Universidad Politécnica de Madrid, 28006, Madrid, Spain

    Manuel Ferre  & Rafael Aracil  & 

  2. Institute of Automatic Control Engineering (LSR), Technische Universität München, D-80290, Munich, Germany

    Martin Buss

  3. Laboratory of Automation and Robotics Department of Electronics, Computer Science and Systems, University of Bologna, 40136, Bologna, Italy

    Claudio Melchiorri

  4. Robotics Lab. Depto. de Ingeniería de Sistemas y Automática, Universidad Carlos III de Madrid, 28911, (Leganés) Madrid, Spain

    Carlos Balaguer

Rights and permissions

Reprints and permissions

Copyright information

© 2007 Springer-Verlag Berlin Heidelberg

About this chapter

Cite this chapter

Reintsema, D., Landzettel, K., Hirzinger, G. (2007). DLR’s Advanced Telerobotic Concepts and Experiments for On-Orbit Servicing. In: Ferre, M., Buss, M., Aracil, R., Melchiorri, C., Balaguer, C. (eds) Advances in Telerobotics. Springer Tracts in Advanced Robotics, vol 31. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-71364-7_20

Download citation

  • DOI: https://doi.org/10.1007/978-3-540-71364-7_20

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-71363-0

  • Online ISBN: 978-3-540-71364-7

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation