为太空机械臂开发可扩展的控制软件，支持在轨任务执行与地面远程交互。
Software for the SpaceDREAM Robotic Arm
- 基于现有机器人软件栈复用，通过SpaceWire控制关节，实现位置与阻抗控制。
- 支持在轨自由运动和接触任务，验证机械臂在轨操作可靠性。
- 设计灵活可扩展，适合后续航天服务任务，降低开发门槛。
阻抗控制机器人在地球上广泛用于交互密集型任务，未来将成为空间服务、组装与制造（ISAM）的关键技术。本文介绍德国航空航天中心（DLR）联合KINETIK Space GmbH与慕尼黑工业大学（TUM）计划开展的SpaceDREAM任务中，搭载于星载计算机（OBC）上的软件架构。该任务旨在低地球轨道（LEO）验证机械臂性能，执行多种自由运动及接触任务，以检验关节级位置与阻抗控制、笛卡尔空间控制的正常运行。任务设计参考后续在轨服务任务需求，如接口对接与精密操作。软件通过SpaceWire命令机械臂关节，读取摄像头图像与传感器数据，并经以太网链路向地面发送遥测信息。系统在接收飞船启动信号后执行预设任务，同时具备接收地面指令的能力，支持未来任务扩展。核心设计原则是最大限度复用现有软件，贴近DLR既有的机器人软件栈，实现快速全功能启动，降低开发者入门门槛，并复用成熟库函数。虽非所有代码均经过充分测试，但大部分已在多个机器人平台上日常运行中得到验证。
原文摘要 · Abstract (English)
Impedance-controlled robots are widely used on Earth to perform interaction-rich tasks and will be a key enabler for In-Space Servicing, Assembly and Manufacturing (ISAM) activities. This paper introduces the software architecture used on the On-Board Computer (OBC) for the planned SpaceDREAM mission aiming to validate such robotic arm in Lower Earth Orbit (LEO) conducted by the German Aerospace Center (DLR) in cooperation with KINETIK Space GmbH and the Technical University of Munich (TUM). During the mission several free motion as well as contact tasks are to be performed in order to verify proper functionality of the robot in position and impedance control on joint level as well as in cartesian control. The tasks are selected to be representative for subsequent servicing missions e.g. requiring interface docking or precise manipulation. The software on the OBC commands the robot's joints via SpaceWire to perform those mission tasks, reads camera images and data from additional sensors and sends telemetry data through an Ethernet link via the spacecraft down to Earth. It is set up to execute a predefined mission after receiving a start signal from the spacecraft while it should be extendable to receive commands from Earth for later missions. Core design principle was to reuse as much existing software and to stay as close as possible to existing robot software stacks at DLR. This allowed for a quick full operational start of the robot arm compared to a custom development of all robot software, a lower entry barrier for software developers as well as a reuse of existing libraries. While not every line of code can be tested with this design, most of the software has already proven its functionality through daily execution on multiple robot systems.
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