Verification of an advanced space teleoperation system using Internet

Author

Tsumaki, Y. ; Goshozono, T. ; Abe, K. ; Uchiyama, M. ; Koeppe, R. ; Hirzinger, G.

Author_Institution

Tohoku Univ., Sendai, Japan

Volume

2

fYear

2000

fDate

2000

Firstpage

1167

Abstract

In our previous work, several system elements for space teleoperation were introduced: a Singularity Consistent (SC) teleoperation system, a mixed force and motion commands based space teleoperation system, and a 6-DOF haptic interface (Y. Tsumaki and M. Uchiyama, 1997; Y. Tsumaki et al., 1998). We introduce an advanced space teleoperation system which includes all the above elements. As a result, the system realizes safety against the singularities and excessive force, with good perception for the operator. In addition, to verify the effectiveness of this system, we conducted experiments through the Internet between DLR in Germany and Tohoku University in Japan in January 1999

Keywords

Internet; aerospace control; aerospace robotics; haptic interfaces; safety; space research; telerobotics; 6-DOF haptic interface; DLR; Germany; Internet; Japan; Singularity Consistent teleoperation system; advanced space teleoperation system; advanced space teleoperation system verification; excessive force; motion commands based space teleoperation system; safety; space teleoperation; system elements; Delay effects; Electronic mail; Haptic interfaces; Humans; Internet; Marine vehicles; Power system reliability; Safety; Solid modeling; Space stations;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on

Conference_Location

Takamatsu

Print_ISBN

0-7803-6348-5

Type

conf

DOI

10.1109/IROS.2000.893177

Filename

893177