document title / titre du document TRP W ORK PLAN ... - emits - ESA

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TRP Work Plan 2005-2007 Description of Activities TEC-SB/7935/dc 12/Feb/09 3.2 - Automation and advanced robotic technologies TRP Reference: Title: T302-02MM Compact Automatic Tool Exchange Device Deliverables: Current TRL: TRL1 Target TRL: TRL3 Application Need/Date: TRL5 by 2010-2012 Application/Mission: exploration missions Contract Duration: 24 months SW Clause : - Dossier0 Ref.: Consistency with Harmonisation Roadmap and Conclusions: TRP Reference: T302-08MM Title: Vision Based Manipulation of non-co-operative objects Non-cooperative objects, in conventional robotics terms, are those which do not provide help to robotics means to ease their manipulation. In the case of robotics vision, this definition applies to objects not equipped with optical markers. This activity shall develop a concept of the software/hardware to allow a robot system equipped with a stereo camera sensor to operate-on/manipulate human-made non cooperative objects. This shall allow real time visual serving control of robot motion directly into the sensor frame. The activity shall also develop concepts for robust techniques to overcome the problems created by the extreme lighting conditions typical of orbital applications. Deliverables: Breadboard including Vision based manipulation software and hardware, Calibration and test equipment for the software. Current TRL: TRL1 Target TRL: TRL3 Application Need/Date: TRL5 by 2010-2012 Application/Mission: exploration missions Contract Duration: 18 months SW Clause : - Dossier0 Ref.: T-6 Consistency with Harmonisation Roadmap and Conclusions: Page 59 of 227
TRP Work Plan 2005-2007 Description of Activities TEC-SB/7935/dc 12/Feb/09 3.2.1 - Automation & Robotics (Source: TRP 2000-2003) TRP Reference: MMA-622 Title: Dextrous Robot System - Phase 1&2 This activity shall develop a scalable medium-size lightweight dextrous robot arm for external space manipulation applications to the level of a demonstrator with completely flight qualifiable design. This shall be suitable for being complemented with more dedicated sub-system developments under GSTP or a similar programme, and for customisation and full qualification testing by user programmes. Innovative approaches and technologies shall be exploited to drastically minimise mass and power consumption while providing adequate force capability and repeatability. A target is to achieve a flight model design of an arm with full joints instrumentation and harness, with a 1 g payload capacity of 10 kg, within a total mass of 20 kg. Interface compatibility with existing other building blocks of space robot arm systems (e.g. on-board controller and avionics) shall be observed. The activity shall include the following phases: 1. Phase 1 (200 kEuros): System-level requirements analysis and definition, kinematics / structural / thermal / dynamic / control analyses, system architectural design and specification of requirements for sub-systems (joints, limbs structure, end effector, latching, ground support equipment). 2. Phase 2 (500 kEuros): Evaluation and trade-off of radically different design concepts for low-power compact space robot joints according to the requirements established before. Detailed design, development, manufacturing and test of one joint demonstrator. 3. Phase 3 (1300 kEuros): Upon possible design iterations based on the unit test results from Phase 2, development and manufacturing of a total of 7 similar joints. Integration in a dextrous robot arm system testbed, demonstration by system-level testing. Deliverables: Technical Note. System design and Requirements definition. Joint demonstrator (design, manufacturing and testing). 7 joints development, manufacturing, integration and testing in a dedicated test-bed. Current TRL: TRL1 Target TRL: TRL3 Application Need/Date: TRL5 by 2010-2012 Application/Mission: exploration missions Contract Duration: 12 months SW Clause : - Dossier0 Ref.: T-1 Consistency with Harmonisation Roadmap and Conclusions: TRP Reference: Title: Dextrous Robot System - Phase 3 This activity shall develop a scalable medium-size lightweight dextrous robot arm for external space manipulation applications to the level of a demonstrator with completely flight qualifiable design. This shall be suitable for being complemented with more dedicated sub-system developments under GSTP or a similar programme, and for customisation and full qualification testing by user programmes. Innovative approaches and technologies shall be exploited to drastically minimise mass and power consumption while providing adequate force capability and repeatability. A target is to achieve a flight model design of an arm with full joints instrumentation and harness, with a 1 g payload capacity of 10 kg, within a total mass of 20 kg. Interface compatibility with existing other building blocks of space robot arm systems (e.g. on-board controller and avionics) shall be observed. The activity shall include the following phases: 1. Phase 1 (200 kEuros): System-level requirements analysis and definition, kinematics / structural / thermal / dynamic / control analyses, system architectural design and specification of requirements for sub-systems (joints, limbs structure, end effector, latching, ground support equipment). 2. Phase 2 (500 kEuros): Evaluation and trade-off of radically different design concepts for low-power compact space robot joints according to the requirements established before. Detailed design, development, manufacturing and test of one joint demonstrator. 3. Phase 3 (1300 kEuros): Upon possible design iterations based on the unit test results from Phase 2, development and manufacturing of a total of 7 similar joints. Integration in a dextrous robot arm system testbed, demonstration by system-level testing. Deliverables: Technical Note. System design and Requirements definition. Joint demonstrator (design, manufacturing and testing). 7 joints development, manufacturing, integration and testing in a dedicated test-bed. Current TRL: TRL1 Target TRL: TRL3 Application Need/Date: TRL5 by 2010-2012 Page 60 of 227
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