국내 최대 기계 및 로봇 연구정보

기술보고서

기술보고서 게시판 내용
타이틀	ETS-7 Space Robot Arm Teleoperation Using Force Reflecting Hand Controllers
저자	Luis F. Penin, Kohtaro Matsumoto, Sachiko Wakabayashi
Keyword	teleoperation; space robotics; force reflection
URL	http://send.nal.go.jp/send/jpn/dlpdf.php3/naltr0001404t.pdf?id=NALTR0001404T
보고서번호	NAL TR-1404T
발행년도	2000.01
출처	NAL (National Aerospace Laboratory of Japan)
ABSTRACT	Space robot systems and on-orbit telerobotics technology will play an essential role in the construction and maintenance of large-scale structures such as the International Space Station (ISS). Teleoperation is considered one the most important technologies for reducing and supplementing on-board operations by astronauts. The National Aerospace Laboratory has been participating in the Engineering Test Satellite 7 (ETS-7) robot experiments in order to establish the basic technologies for on-orbit truss assembly. Continuous teleoperation of robots by operators on Earth is seriously impeded by signal transmission delays. For Earth-orbit applications the time delay is normally between 5-7 seconds. On the other hand, it is well known that task execution performance can be dramatically improved with the addition of some kind of force reflection (FR) to the operator, although time delay makes its application extremely difficult. This paper reports on the experiments conducted with the ETS-7 robot arm regarding the novel use of force reflection hand controllers to improve continuous teleoperation with long communications delays. The expemrets constitute the first extensive application of FR for ground teleoperation of a real space robot.