General scheme of teleoperation for space robot

This paper addresses a general scheme of teleoperation system for a space free-flying robot. The system is comprised of five subsystems: the predictive simulation subsystem (PSS), the master-slave control subsystem (MSCS), the task planning subsystem (TPS), the information processing subsystem (IPS) and the ground-based validation subsystem (GVS). All the subsystems are connected using the defined protocol and the system has many control mode of teleoperation. In the PSS, three levels of tele-programming is produced: planning level tele-programming, action level tele-programming and task level tele-programming, and they provide the flexible and powerful operating ability to complete tasks. Unilateral and bilateral master-slave control modes are provided in the MSCS. The model based PSS can solve the time delay problem by the prediction method. There are six types of information in the system are provided by the IPS which checks all the commands. Specially the GVS is included in the teleoperation system, which provides the operational object before the space robot launch and verifies the operations when the space robot is in orbit. Lastly, some experiments are designed for the system. It provides the guarantee for the development of the teleoperation system.