Ground-Space Bilateral Teleoperation Experiment Using ETS-VII Robot Arm with Direct Kinesthetic Coupling
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 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 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 Teleoperation of ETS-VII Robot Arm by Direct Bilateral Coupling under 7-sec Time Delay Condition
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 ...
متن کاملBilateral Teleoperation: Towards Fine Manipulation with Large Time Delay
To conduct tasks that need high dexterity by teleoperation, a unified hand/arm master-slave system was developed. To measure the dexterity of individual teleoperation systems all over the world in equal condition, we propose toy block assembling (LEGO) as the benchmark test for teleoperation systems. Meanwhile, a bilateral teleoperation experiment with ETS-VII (Engineering Test Satellite No.7) ...
متن کاملModel-Based Teleoperation of a Space Robot on ETS-VII Using a Haptic Interface
In our previous works, we have proposed a mixed force and motion commands-based space robot teleoperation system and a compact 6-DOF haptic interface to achieve an effective manual teleoperation. Until now, the effectiveness of this system and the haptic interface has been confirmed by the experiments in our laboratory. The most important features of this teleoperation system are robustness aga...
متن کاملETS-VII: Achievements, Troubles and Future
ETS-VII (Engineering Test Satellite No.7) was launched on Nov.1997 to conduct automated rendezvous docking and space robot technology experiments. A 6dof robot arm which is mounted on the ETS-VII chaser satellite were tele-operated from ground and were used to in various experiments such as ORU exchange, equipment handling and satellite capture. These results came by overcoming various troubles...
متن کاملOn-ground tele-operation and on-board autonomous control for the ETS-VII’s rendezvous docking and space robot experiments
In the near future space activities, the in-orbit servicing capability which means transportation of logistics, maintenance of spacecraft and assist of scientific activities such as space experiments are highly required. These work will be partly conducted by astronauts and manned spacecraft. However, most of these works should be done by unmanned spacecraft and robots from the safety and cost ...
متن کامل