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In recent years a new generation of motion simulators, based on serial kinematics industrial robots, emerged as alternative to the currently prevalent Steward-platforms. This paper presents the newest addition to this: The DLR Robot Motion Simulator.
— The task of planetary exploration poses many challenges for a robot system, from weight and size constraints to sensors and actuators suitable for extraterrestrial environment conditions. As there is a significant communication delay to other planets, the efficient operation of a robot system requires a high level of autonomy. In this work, we present the… (More)
Manipulator control based on the artificial potential fields method has been shown to be a good solution for real-time obstacle avoidance and navigation in complex, dynamic environments. This paper presents an implementation of this approach for a Mitsubishi RV-6S industrial robot with an emphasis on the use for obstacle avoidance. The robot is able to… (More)
This paper presents the current activities of the ROBEX alliance. ROBEX is developing innovative technologies and procedures for the exploration within extreme environments and also systems operating in the deep sea, on the moon or other celestial bodies. This paper gives a brief overview on the project's aims and the core development activities, as well as… (More)