System engineering approach in designing the teleoperation system of the ETS-VII robot experiment satellite

Author

Oda, Mitsushige

Author_Institution

Nat. Space Dev. Agency of Japan, Tokyo, Japan

Volume

4

fYear

1997

fDate

20-25 Apr 1997

Firstpage

3054

Abstract

NASDA is to launch an engineering test satellite, named ETS-VII (Engineering Test Satellite VII), to conduct rendezvous docking and space robot technologies experiments in an Earth orbit in the year 1997. ETS-VII satellite carries a 2-m long robot arm which has 6 degrees-of-freedom. The robot arm will be teleoperated from a ground control station using a data relay satellite in the geostational Earth orbit. The communication capacity of the link is limited and there is a time delay of about 4 to 6 seconds. This paper introduces how the teleoperation system of the ETS-VII robot experiment system is designed

Keywords

aerospace control; artificial satellites; compliance control; manipulators; position control; systems engineering; telerobotics; ETS-VII; Earth orbit; Engineering Test Satellite; NASDA; compliance control; data relay satellite; position control; rendezvous docking; robot arm; robot experiment satellite; space robot; system engineering; teleoperation system; Communication system control; Delay effects; Design engineering; Earth; Orbital robotics; Relays; Satellite ground stations; Space technology; Systems engineering and theory; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.606752

Filename

606752