Title :
Teleoperation of a space robot experiment system
Author :
Zongwu Xie ; Guangxin Wu ; Zainan Jiang ; Jing Xia ; Hong Liu
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
Abstract :
This paper developed a teleoperation system of a space robot, which can assist the operator in planning trajectory quickly and intuitively. In addition to the general function, this system can ensure the completion of certain mission when some joint of the space robot is locked for a hardware malfunction. The teleoperation system includes 4 subsystems-Graphics display subsystem, Camera monitor subsystem, Tasks plan subsystem, and Haptic interface subsystem. The experimental results and the analysis of the data generated validate the effectiveness and correctness of our system.
Keywords :
aerospace robotics; computer graphics; control engineering computing; haptic interfaces; mobile robots; telerobotics; camera monitor subsystem; general function; graphics display subsystem; haptic interface subsystem; hardware malfunction; space robot experiment system; teleoperation system; trajectory planning; Haptic interfaces; Joints; Manipulators; Planning; Space vehicles; Trajectory;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on
Conference_Location :
Shenzhen
DOI :
10.1109/ROBIO.2013.6739855
