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Proceedings Paper

IRAS--interactive remote A&R servicing
Author(s): Ruediger Dillmann; Jens Froehlich
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Paper Abstract

IRAS is a robot control system designed for space robot application with operator supervisory. The main goal of IRAS is the development of a general robot control architecture including a prototype implementation for task oriented A&R operations. The system supports interactive task level programming and adjustment of local robot action sequences and online tuning of command parameters. A functional, three level hierarchical architecture is proposed to cover the objectives. The general control concept with horizontal and vertical information flow allows forward control, nominal feedback and non-nominal feedback. A testbed has been implemented at MBB/ERNO to demonstrate the capabilities of the system. The IRAS-system is tested in a testbed environment consisting of an industrial robot performing manipulations in a MTFF (COLUMBUS). Several exceptions have been studied and analyzed to improve the performance of the IRAS-system. The project is supported by the European Space Agency ESA/ESTEC.

Paper Details

Date Published: 26 March 1993
PDF: 11 pages
Proc. SPIE 1833, Telemanipulator Technology, (26 March 1993); doi: 10.1117/12.142101
Show Author Affiliations
Ruediger Dillmann, Univ. of Karlsruhe (Germany)
Jens Froehlich, Univ. of Karlsruhe (Germany)


Published in SPIE Proceedings Vol. 1833:
Telemanipulator Technology
Hari Das, Editor(s)

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