NDLI: Development of the Chinese Intelligent Space Robotic System

Content Provider	IEEE Xplore Digital Library
Author	Gao, X.H. Jin, M.H. Xie, Z.W. Jiang, L. Ni, F.L. Shi, Sh.C. Wei, R. Cai, H.G.
Copyright Year	2006
Description	Author affiliation: Robot Res. Inst., Harbin Inst. of Technol. (Gao, X.H.; Jin, M.H.; Xie, Z.W.; Jiang, L.; Ni, F.L.; Shi, Sh.C.; Wei, R.; Cai, H.G.)
Abstract	This paper gives an overview of the Chinese intelligent space robotic system. The system consists of a 6 DOF robot arm, a large-error tolerated gripper with two stereo cameras and onboard computer. The robot arm is composed of six identical modular joints, a big central hole in the modular joint was designed for the placement of the cables and plugs in the robot arm, which prevented them from damage of high temperature, radiation in the space environment and the motion of the robot. Joint torque sensor, joint position sensor and temperature sensors etc.., were integrated into the fully modular multi-sensory joint, which made the joint more intelligent. Also, a large-error tolerated gripper with two stereo cameras has been also designed to capture a microtarget satellite (MTS). A fault-tolerant onboard computer (OBC) with dual processing modules has been developed for the robot control. A zero gravity experimental system was developed to verify the functions of the robot arm under zero gravity environment
Starting Page	994
Ending Page	1001
File Size	9000377
Page Count	8
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.281781
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Intelligent robots Intelligent systems Orbital robotics Temperature sensors Intelligent sensors Grippers Robot vision systems Cameras Robot sensing systems Gravity gripper space robot modular joint OBC
Content Type	Text
Resource Type	Article

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