Space Robotics: an Experimental Set-up based on RTAI-Linux

A. Macchelli; C. Melchiorri; Raffaella Carloni; M. Guidetti

Space Robotics: an Experimental Set-up based on RTAI-Linux

A. Macchelli, C. Melchiorri, Raffaella Carloni, M. Guidetti

Research output: Contribution to conference › Paper › peer-review

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Abstract

In space application, it is of great interest the development of autonomous or semi-autonomous robotic devices that can substitute the astronauts in routine operations in order to free them from repetitive tasks and reduce mission costs. In this work, an experimental setup based on a 6 degrees of freedom (dof) manipulator with a 3 dof gripper designed for a possible application within PaT, the Payload Tutor proposed by ASI (Italian Space Agency), is presented. This system consists of a robotic arm, a vision system, and a gripper. Since the gripper has to interact with free-floating and irregular objects, the vision subsystem provides all the information needed for grasping unknown objects in an optimal way.

Original language	Undefined
Number of pages	6
Publication status	Published - Dec 2002
Event	4th Real-Time Linux Workshop - Boston, USA Duration: 6 Dec 2002 → 7 Dec 2002

Workshop

Workshop	4th Real-Time Linux Workshop
Period	6/12/02 → 7/12/02
Other	6-7 Dec 2002

Keywords

IR-77496
CE-Advanced Robotics
EWI-20234

Access to Document

https://www.osadl.org/Paper.rtlws-2002-paper.0.html#PAPER_a02_Macchelli

Cite this

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title = "Space Robotics: an Experimental Set-up based on RTAI-Linux",

abstract = "In space application, it is of great interest the development of autonomous or semi-autonomous robotic devices that can substitute the astronauts in routine operations in order to free them from repetitive tasks and reduce mission costs. In this work, an experimental setup based on a 6 degrees of freedom (dof) manipulator with a 3 dof gripper designed for a possible application within PaT, the Payload Tutor proposed by ASI (Italian Space Agency), is presented. This system consists of a robotic arm, a vision system, and a gripper. Since the gripper has to interact with free-floating and irregular objects, the vision subsystem provides all the information needed for grasping unknown objects in an optimal way.",

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AU - Macchelli, A.

AU - Melchiorri, C.

AU - Carloni, Raffaella

AU - Guidetti, M.

PY - 2002/12

Y1 - 2002/12

N2 - In space application, it is of great interest the development of autonomous or semi-autonomous robotic devices that can substitute the astronauts in routine operations in order to free them from repetitive tasks and reduce mission costs. In this work, an experimental setup based on a 6 degrees of freedom (dof) manipulator with a 3 dof gripper designed for a possible application within PaT, the Payload Tutor proposed by ASI (Italian Space Agency), is presented. This system consists of a robotic arm, a vision system, and a gripper. Since the gripper has to interact with free-floating and irregular objects, the vision subsystem provides all the information needed for grasping unknown objects in an optimal way.

AB - In space application, it is of great interest the development of autonomous or semi-autonomous robotic devices that can substitute the astronauts in routine operations in order to free them from repetitive tasks and reduce mission costs. In this work, an experimental setup based on a 6 degrees of freedom (dof) manipulator with a 3 dof gripper designed for a possible application within PaT, the Payload Tutor proposed by ASI (Italian Space Agency), is presented. This system consists of a robotic arm, a vision system, and a gripper. Since the gripper has to interact with free-floating and irregular objects, the vision subsystem provides all the information needed for grasping unknown objects in an optimal way.

KW - IR-77496

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M3 - Paper

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ER -