Abstract
Based on the long-term goal “robonauts for space” and the experiences DLR has gained so far in space robotics, the talk describes recent design and development results in DLR’s robotics lab towards a new generation of “mechatronic” ultra-light weight robots with articulated hands. The design of fully sensorized joints with complete state feedback which has led to 7dof torque-controlled, “soft” robot arms with definable impedance in cartesian space, is outlined. The just recently completed third light-weight arm generation is based on a fully modular carbon fibre shell structure, newly designed motors with exciting characteristics, and it gives the feeling that it comes close to the limits of what is technically feasible today; in the same way the second generation of DLR’s most highly integrated 4 finger-hand with its 13 actuators was completed now and adapted to the new arms. Thus it is hoped that major steps towards a new generation of space as well as service and personal robots have been achieved.
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References
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Hirzinger, G., Sporer, N., Schedl, M., Butterfaß, J., Grebenstein, M. (2003). Torque-controlled Light Weight Arms and Articulated Hands — Do We Reach Technological Limits Now?. In: Siciliano, B., Dario, P. (eds) Experimental Robotics VIII. Springer Tracts in Advanced Robotics, vol 5. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36268-1_2
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DOI: https://doi.org/10.1007/3-540-36268-1_2
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