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The cost and risks associated with the execution of robotics tasks in space require that all procedures be verified on Earth prior to their execution. The DLR-HIT Joint Robotics Lab is responsible for the verification of all the tasks of space manipulator of the Chinese free-flight robot space satellite system. We are currently developing the free-flight robot task verification facility (FTVF) through...
In this paper, FPGA (field programmable gate array) based joint servo system for the HIT/DLR arm has been investigated. A new fully digitized hardware design scheme of a joint servo controller has been presented, which is verified and implemented on one-chip FPGA with embedded NIOS II processor. This scheme not only realizes all sensor data acquisition, SPWM generation and motor vector control, but...
Autonomous approaching objects for an arm-hand robot is a very difficult problem because the possible arm-hand configurations are numerous. In this paper, we propose a modified reinforcement learning algorithm for a multifingered hand approaching target objects. The proposed approach integrates the heuristic search information with the learning system, and solves the problem of how an arm-hand robot...
The cost and risks associated with the execution of robotics tasks in space require that all procedures be verified on Earth prior to their execution. The DLR-HIT Joint Robotics Lab is responsible for the verification of all the tasks of space manipulator of the Chinese free-flight robot space satellite system. We are currently developing the free-flight robot task verification facility (FTVF) through...
In this paper, joint reliability design for the Chinese space robotic arm has been discussed. Redundant controller unit, redundant can bus communication unit and latch-up power protection unit have been outlined. The fault tree of the joint has been built. Moreover, the new algorithm of auto-adjust thresholding value has been presented for fault detection, and the fault-tolerant strategies of joint...
In this paper, we developed a performance-enhanced, stand-alone dexterous robot hand with effective mechanical structure and lightweight control hardware. In the context, the paper shows the design methodology of HIT/DLR dexterous robot hand II controller using FPGA (field programmable gate array). Lower level controller is implemented in an FPGA and higher level controller is implemented in a DSP...
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