Title :
Tele-manipulation of a satellite mounted robot by an on-ground astronaut
Author :
Oda, M. ; Doi, T. ; Wakata, K.
Author_Institution :
Nat. Space Dev. Agency of Japan, Tokyo, Japan
Abstract :
An experiment to teleoperate a robot arm on a satellite from an onground control station was conducted by an astronaut who has extensive on-orbit experience in operating the Space Shuttle´s robotic arm. This experiment aimed to evaluate/compare a teleoperation system, which we developed, with the teleoperation system of the Space Shuttle Remote Manipulator System (SRMS). There was a time delay of about 6 seconds in the teleoperation control loop of the satellite-mounted robot. However, the teleoperation experiments were satisfactory conducted with helps of various operator assistance functions.
Keywords :
aerospace robotics; artificial satellites; delays; manipulators; telerobotics; 6 sec; delay; on-ground astronaut; operator assistance functions; satellite mounted robot; telemanipulation; teleoperation system; Delay effects; Manipulators; Orbital robotics; Robot control; Robot kinematics; Robotics and automation; Satellites; Space shuttles; Space stations; Space technology;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.932884
