Onboard local compensation on ETS-W space robot teleoperation

Abstract

Space robots teleoperated from the ground will augment human on-orbit capabilities with safety of astronauts. Target applications of space robots include on-orbit satellite assembly, maintenance, repair, refueling and science experiment servicing. A robot satellite named ETS-VII (Engineering Test satellite 7) was launched in 1997. Many space robot experiments have been conducted using it. Algorithms of onboard local compensation for teleoperation error due to communication time delay are described in this paper. On-board robot flight experiment results using the function are also discussed in this paper.