How many judges sat on Galileo's trial over heliocentrism and who were they exactly? I saw several chronologies of the trial online but most of them only mention the name of Urban 8 as involved in the actual court proceedings. How many judges were involved and who were they exactly?

Note 1. Reading the small print at wiki I found the names of the three of the ten cardinals who did not vote to convict: Francesco Barberini, Laudivio Zacchia and Gaspare Borgia.  I still don't know the names of any cardinals that voted to convict.

Note 2. Material related to the trial can be found in "Hidden agenda of the Galileo trial?" on the History of Science and Mathematics Stack Exchange site.
The seven who convicted were 
Felice Centini, Desiderio Scaglia, Antonio Barberini, Berlinghiero Gessi, Fabrizio Verospi, Guido Bentivoglio and Marzio Ginetti. And as you note Francesco Barberini, Laudivio Zacchia and Gaspare Borgia did not. These three didn't vote to acquit, they were just absent from the signing of the condemnation - we don't know why

All information from The Galileo Case: Trial, Science, Truth page 142
By Mario D'Addio. Gracewing Publishing, 2004 ISBN 9780852446652