
ME1120: 
Space Robotics 
ECTS: 
4 
Responsible Instructor: 
Dr.ing. A. Schiele 
Contact Hours / Week x/x/x/x: 
0/0/0/2 
Education Period: 
4 
Start Education: 
4 
Exam Period: 
Different, to be announced 
Course Language: 
English 
Course Contents: 
Overview to space robotics systems, design and requirements. This course will set the foundation to design space robotic systems and to understand the requirements specifically imposed on robots by application in nonterrestrial environments. The lecture provides an overview to some relevant basics about robotic manipulators in general and then prepares the students to consider particular constraints posed by temp., radiation and space robotic systems. Focus will lie on manipulator type of robotic applications, but also typical mobile robotics scenarios will be outlined. Lect. 1: Introduction Robots in space; Manipulators, Mobile robotics; Purpose, goals, difference w.r.t. terrestrial robotic systems Lect. 2: Basics I: Homogeneous coordinates Concept of homogeneous transformations, linear & rotational transforms (Euler angles, quaternions), DenavitHertenberg Convention, 6 DOF forward and inverse kinematics (Assignment) Lect. 3: Basics II: Link velocity Link velocity and velocity propagation, Jacobians (analytical, geometrical, numerical,), construction of Jacobian, Lect. 4: Basics III: Link forces & Redundancy Link force propagation, force transformations Manipulator redundancy, Manipulator & operational space, null space, redundancy resolution strategies, redundant inverse kinematics Lect. 5: Exercises (Basics IIII) Lect. 6: Space environmental effects Temperature Environment (effects on mechanical Systems), radiation environment (effects on electronic systems), launch and landing environments (examples), planetary surface environments Lect. 7: Tribology in space Basic effects, overview of models, selection of appropriate lubricants Lect. 8: Robotic actuators in space DC, stepper and brushless motors, bearing and bushing modification, qualified motors, selection of actuators. Lect. 9: Sensors for manipulators in space Position/Velocity Sensing, force sensors, strain gauges (layout and design), sensor electronics, Lect. 10: Testing for space mechatronics Introduction to applicable standards, mechanical, thermal and electrical testing. (I/F load calculation, thermal modeling approaches, EMC) Lect. 11: Applications I: Robotic planetary missions Mission operation, examples about mission control (MER, Nanokhod) Lect. 12: Applications II: Orbital robotics Operational modes: humanmachine interfaces, examples of ERA/SSRMS, introduction to Telecontrol and Teleoperation concepts Lect. 13/14: Lab assignment (TBC): A: SRMS/SSRMS interfaces joystick (trl. Of 7 dof. Manipulators (PA.10, LBR4) B: Nullspace motion, resolution of 7 dof redundancy on LBR4 (A+B = final assignment) 
Study Goals: 
The students are capable: * To identify, define and analyse problems of robots, vehicles and other mechanical systems in space * To design and produce a sound solution to typical space robotics problems The following exit qualifications serve to realise this goal: The students meet the following qualifications: * Basic knowledge of the problems of mechanical systems in space, i.e. related to tribology, actuators, mechatronics, sensors, thermodynamics, etc. * Ability to set up motion equations for 3D mechanisms applicable in space and in general, calculation of kinematics and dynamics using most often used methods. * Knowledge about particular space environment requirements and testing methods. * Knowledge about the space mission operations and human interfacing requirements. * Analyze some basic problems in space robotic missions, and synthesize an adequate solution. 
Education Method: 
14 lectures, 2 assignment 
Prerequisites: 
Basic understanding of: linear algebra, physics, analog electronics, digital & analog signal processing, mechanics (statics, kinetics, dynamics), linear control theory, Matlab, C. 
Assessment: 
Assignment 
