The DLR Robot Motion Simulator is a serial kinematics based platform that employs an industrial robot (as opposed to the conventional `Hexapod') to impart motion cues to the attached simulator cell. This simulation platform is the culmination of ongoing research on motion simulation at the Robotics and Mechatronics Center, German Aerospace Center (DLR). Safety tests were undertaken to ascertain the effects of critical motions and subsequent emergency stop procedures on the prospective human passengers of the simulator cell. To this end, an Anthropomorphic Test Device (ATD) aka `crash test dummy' was used as a human surrogate for these tests. Several severity indices were evaluated for the head-neck region, which was found to be more susceptible to injuries compared to the rest of the body. The results of this study are discussed in this paper.

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. Part I covers the design process and gives a detailed introduction of the setup. The overall layout of the simulation platform and its parts is introduced. To meet the requirements of an interactive simulation, a new piloting cell had to be designed using light-weight construction and real time vehicle simulations were required. Another key issue of the whole design is the guarantee of safety. The simulator utilizes a 10m linear axis to increase its workspace to provide a better simulation experience compared to previous designs of motion simulators with serial or parallel kinematics. Part II introduces a new path planning algorithm for the kinematically redundant simulator platform, required for the generation of appropriate motion cues. Furthermore the application artistic-flight simulation is demonstrated and validated.

The dynamics and control of a cable-suspended, two-arm robotic system are developed for an entertainment application. One manipulator arm is controlled to fulfil a user defined task. The second arm is then controlled to compensate for the disturbances on the cable-suspended platform arising from the motion of the first. Model-based feedforward control, stemming from the momentum conservation equations of a free-floating robot, is developed for the motion compensation problem. Furthermore, due to model uncertainty, sensor-based feedback control is introduced, to account for undesired oscillatory motions of the system. The latter control problem reduces to the dissipation of the oscillatory energy of the system, by means of adequate robot control. Both control methods are implemented and tested on an experimental set-up

In April 1993 for the first time in the history of space flight, a small multisensory robot performed a number of prototype tasks on-board a spacecraft (spacelab D2 on shuttle COLUMBIA) in different operational modes that are feasible today, namely preprogrammed remotely controlled operations by the astronauts using a control ball and a stereo TV-monitor, as well as remotely controlled from ground via the human operator and machine intelligence. In these operational modes the robot successfully closed and opened connector plugs (bayonet closure), assembled structures from single parts and captured a free-floating object. Several key technologies have made this space robot technology experiment ROTEX a big success: multisensory gripper technology, local (shared autonomy) sensory feedback control concepts, and the powerful delay-compensating 3D-graphics simulation (predictive simulation) in the telerobotic ground station. This paper focusses on the tele-sensor-programming approach and the predictive simulation used for remote ground control.>

Outlines key technologies in the approach of the author's research establishment to space robotics. Based on multisensory gripper technology, local on-board sensory feedback, and predictive graphic simulation (with emphasis on sensory simulation) a tele-sensor programming concept is introduced that allows sensor-based teleoperation in spite of large signal delays as well as sensor-based off-line programming following a "learning by showing" concept. A small multisensory robot based on these concepts has flown in space with a ten-day Space Shuttle mission. This robot technology experiment ROTEX was very successful and showed that, with these sensor-based concepts, even present-day space robots can perform different prototype tasks in a variety of operational modes, including automatic (reprogrammable) operation, and on-board teleoperation using human and/or machine intelligence.

In early 1993 the space robot technology experiment ROTEX was flown with space-shuttle Columbia. A multisensory robot onboard the spacecraft successfully worked in autonomous modes, teleoperated by astronauts, as well as in different telerobotic ground control modes. These included online teleoperational and telesensor-programming: a task-level oriented programming technique involving learning-by-showing concepts in a virtual environment. The robot's key features were its multisensory gripper and the local sensory feedback schemes that are the basis for shared autonomy. The corresponding man-machine interface concepts, which use a six-degree-of-freedom non-force-reflecting control ball and visual feedback to the human operator, are explained. Stereographic simulation on the ground was used to predict not only the robot's free motion but even the sensor-based path refinement onboard. Prototype tasks performed by this space robot were the assembly of a truss structure, connecting/disconnecting an electrical plug (orbit replaceable unit exchange), and grasping free-floating objects.>

The space robot technology experiment ROTEX to fly with the next spacelab mission D2 in January 1993 provides a multisensory robot which is supposed to work in an autonomous mode, teleoperated by astronauts, as well as in different telerobotic ground control modes.These include on-line teleoperation and telesensorprogramming, a task-level oriented programming technique involving `learning by showing'concepts in a virtual environment. The robot's key features are its multisensory gripper and the local sensory feedback schemes which are the basis for shared autonomy. The corresponding man-machine interface concepts using a 6 dof non- force-reflecting control ball and visual feedback to the human operator are explained.Stereographic simulation on ground is supposed to predict even the sensor based path refinement on board, while realtime fusion of stereo images and laser range information helps to predict the motion of floating objects to be grapsed from ground, too. Other prototype tasks to be performed by this space robot are the assembly of a truss structure and connecting/ disconnecting an electrical plug (orbit replaceable unit exchange ORU).

The problems that arise when sensor-controlled robots in space are teleoperated from ground stations are discussed. A supervisory control concept is described that makes it possible to realize shared control between teleoperator and sensor-controlled robot in a variety of configurations. Predictive 3D computer graphics currently seems to be the only way to cope successfully with the problem of transmission-time delays of several seconds. Appropriate estimation schemes in combination with knowledge-based world modeling are outlined, which include models of the delay lines, the robot, moving objects, etc., and which derive the necessary updates from sensory data as they are sent down from the spacecraft to earth (e.g. via real-time stereo vision). The space robot technology experiment Rotex scheduled for the next German Spacelab mission (2D) is taken as a basis for the problem description.>