Development of the Chinese Intelligent Space Robotic System

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...

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Bibliographic Details
Main Authors: Gao, X.H., Jin, M.H., Xie, Z.W., Jiang, L., Ni, F.L., Shi, Sh.C., Wei, R., Cai, H.G.
Format: Conference Proceeding
Language:English
Subjects:
Cameras
Gravity
gripper
Grippers
Intelligent robots
Intelligent sensors
Intelligent systems
modular joint
OBC
Orbital robotics
Robot sensing systems
Robot vision systems
space robot
Temperature sensors
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Summary: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
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2006.281781