||Dr.ing. A. Schiele
|Contact Hours / Week x/x/x/x:
||Different, to be announced
||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 non-terrestrial 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), Denavit-Hertenberg 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 I-III)
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: human-machine interfaces, examples of ERA/SSRMS, introduction to Telecontrol and Tele-operation 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)
||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.
||14 lectures, 2 assignment
||Basic understanding of: linear algebra, physics, analog electronics, digital & analog signal processing, mechanics (statics, kinetics, dynamics), linear control theory, Matlab, C.