A Ground Teleoperation Experimental System of Space Robot using Hybrid Approach

摘要

Tasks to be performed in space by space robots will enhance the productivity and safety in the future space missions, such as assembly of the space station, repair of failed satellite in orbit and exploration of Lunar and Mars surface. However, in order to conduct the robots to complete these tasks, the space robots should be teleoperated from a ground control station. In this paper, we present the design, development and test of the ground experimental teleoperation system of space robotics using hybrid approach. To develop a engineering teleoperation system for controlling the space robot from the ground, we propose a novel approach to simulate the ground-space teleoperation using ground experimental system. In the ground experimental system, we combine the kinematical equivalence with dynamics calculation as a hybrid approach to simulate the on-orbital space robot and realize the semi-physics simulation of space robot, some typical experimental demonstrations verify that the proposed ground experimental teleoperation system has good performances and simulate the ground-space teleoperation environment basically.