DocumentCode :
3312760
Title :
Automation and robotics technology testbed for external servicing
Author :
Colombina, G. ; Didot, F. ; Magnani, G. ; Rusconi, A.
Author_Institution :
Tecnospazio SpA, Milan, Italy
Volume :
3
fYear :
1994
fDate :
12-16 Sep 1994
Firstpage :
1954
Abstract :
This paper presents the Automation and Technology testbed for External Servicing (ARTES) developed by Tecnospazio on behalf of European Space Agency Technology Center (ESTEC). ARTES was conceived as a ground testbed to perform technology assessment of components, control concepts, algorithms and operational procedures for future Space robots for external servicing. Sensor based robotic control, for instance, must be experienced before exploitation in space applications, being not a mature technology in industry. Based on this need the testbed provides, along with the standard robot controllers capabilities, impedance and proximity control. An experimental evaluation of these techniques is carried out from the execution of a reference task for space robotics, namely the replacement of an Orbital Replaceable Unit (ORU)
Keywords :
aerospace control; aerospace test facilities; maintenance engineering; mobile robots; space vehicles; ARTES; Automation and Technology testbed for External Servicing; ESTEC; European Space Agency Technology Center; ORU replacement; Orbital Replaceable Unit; Space robots; impedance control; proximity control; sensor-based robotic control; Automatic control; Automatic testing; Orbital robotics; Performance evaluation; Robot control; Robot sensing systems; Robotics and automation; Service robots; Space technology; Subspace constraints;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on
Conference_Location :
Munich
Print_ISBN :
0-7803-1933-8
Type :
conf
DOI :
10.1109/IROS.1994.407595
Filename :
407595
Link To Document :
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