The present invention relates to a holding device (10) for a tool (12), the at least one hinge (14) having at least two relatively movable parts (16, 18) and at least one of the hinge (14) associated with the drive unit has. The drive unit is adapted to move the joint (14) by driving at least one of the mutually movable parts (18) of the joint (14). The holding apparatus (10) further comprises a securing device with a said hinge (14) associated with the lock and with an activatable release unit (24), wherein the locking in such a way with the release unit (24) cooperates, to the joint (14) in a locking position holds as long as the release unit (24) is not activated. The securing means is adapted to also allow movement of the joint (14) within a predetermined movement range from the respective locking position out when the release unit (24) is not activated. The invention further relates to a corresponding securing device for a holding device and a working method therefor.

A third generation of torque-controlled light weight robots has been developed in DLR's robotics and mechatronics lab which is based on all the experiences that have been had with the first two generations. It aims at reaching the limits of what seems achievable with present day technologies not only with respect to light-weight, but also with respect to minimal power consumption and losses. One of the main gaps we tried to close in version III was the development of a new, robot-dedicated high energy motor designed with the best available techniques of concurrent engineering, and the renewed efforts to save weight in the links by using ultralight carbon fibres.

We present a system for catching a flying ball with a robot arm using off-the-shelf components (PC based system) for visual tracking. The ball is observed by a large baseline stereo camera, comparing each image to a slowly adapting reference image. We track and predict the target position using an extended Kalman filter, also taking into account the air drag. The calibration is achieved by simply performing a few throws and observing their trajectories, as well as moving the robot to some predefined positions

The keynote lecture describes recent design and development efforts in DLR’s robotics lab towards a new generation of ultra-light weight robots with articulated hands (Fig.1). The design of fully sensorized joints with complete state feedback and the underlying mechanisms are outlined. The second joint torque-controlled light-weight arm generation is available now [1], as well as the second generation of a highly integrated 4 finger-hand with 13 actuators and more than 100 sensors [2]. Thus we hope that important steps towards a new generation of service and personal robots have been achieved, with space robotics becoming a major driver due to the need for advanced “robonaut” technologies.

The paper describes recent design and development efforts in DLR’s robotics lab towards a new generation of “mecha-tronic” ultra-light weight robots with articulated hands. The design of fully sensorized joints with complete state feedback and the underlying mechanisms are outlined. The second light-weight arm generation is available now; in the same way the second generation a most highly integrated 4 finger-hand is near completion. Thus it is hoped that big steps towards a new generation of space as well as service and personal robots have been achieved.

The DLR Planetary Roller Spindle Drive (PRSD), a new linear actuator developed at the German Aerospace Center (DLR), transforms fast rotation into slow but powerful linear movement. As part of the RObot Technolgy Experiment (ROTEX) on bord of the Spacelab D2-Mission, the PRSD passed its nail-proof successfully. To optimize dynamical behaviour and performance of modified PRSD design versions, modelling and calculation methods have been developed, taking into account the very special requirements of this new design. To analyze the operating characteristics and performance figures, the PRSD was modelled as a multibody system (MBS). Accompanying photoelastic experiments ensured the accuracy of the modelling. Computation of a PRSD showed satisfying accordance with testbench measurements.

In this paper we present a system for catching a flying ball with a robot arm using o-the-shelf components (PC based system) for visual tracking. The ball is ob- served by a large baseline stereo camera, comparing each image to a slowly adapting reference image. We track and predict the target position using an Extended Kalman Filter (EKF), also taking into account the air drag. The calibration is achieved by simply perform- ing a few throws and observing their trajectories, as well as moving the robot to some predefined positions. The robustness of the system was demonstrated at the Hannover Fair 2000.