Ground-Space Teleoperation of ETS-VII Robot Arm by Direct Bilateral Coupling under 7-sec Time Delay Condition
نویسندگان
چکیده
A bilateral teleoperation experiment with ETS-VII was conducted on November 22, 1999. Round-trip time for communication between the NASDA ground station and ETS-VII was approximately seven seconds. We constructed a bilateral teleoperator that is stable even under such a long time delay. Several experiments, such as slope tracing task and peg-in-hole task, were carried out. Experimental results showed that kinesthetic force feedback to the operator is helpful even under such long time delay and improves the performance of the task.
منابع مشابه
Ground-Space Bilateral Teleoperation Experiment Using ETS-VII Robot Arm with Direct Kinesthetic Coupling
A bilateral teleoperation experiment with ETS-VII was conducted on November 22, 1999. Round-trip time for communication between the NASDA ground station and ETS-VII was approximately six seconds. We constructed a bilateral teleoperator that is stable even under such a long time delay. Several experiments, such as slope tracing task and peg-in-hole task, were carried out. Experimental results sh...
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