A Highly-Reliable Modular Joint Design for Space Robots

Designing A highly-reliable modular joint system for low speed and large inertia space manipulators has been one of the grand challenges in robotics research. It is too difficult for the conventional joints for satisfy the requirements of aerospace applications. To address this challenge, this paper details the hardware and control development for a highly-reliable modular joints system, intended for use in highly space manipulators.