Tele-Science by Planetary Rover : Micro 5

In this paper, we propose the method of constructing the operation environment with the manipulator to gather the sample for the planetary mission, and also describe the development of the 5 Degree-Of-Freedom micro manipulator for the telescience. Command Distortion Compensation is also presented for Continuous Real-time Tele-driving with the time-delay. I . Introduction Recently, it has become easy to construct a cheap, high-speed computer system caused by the highspeed development of the computer technology. As a result, the human interface technology such as the VR technology has been developed rapidly[l][2]. The task operability in the remote environment on Tele-operation has improved by these technologies. However engineers, who have special skills, have Fig. 1 Planeta~y Rover: Micro 5 still done almost of actual operations by themselves[3][4]. Especially, in the field of a planetary exploration such as the moon and Mars mission, the scientists have requested their own operations by tele-science equipments to the engineers because the operations require high-level skills and the mission can not be failed. In the nature of things, scientists should really operate these equipments by themselves and then it can be expected that we can obtained more good results. Therefore, there are a