Teleoperation Experiment of the Satellite-mounted Robot Arm. Simulation of the Time Delay and the Communication Capacity.

摘要

Design of a satellite mounted robot system which is teleoperated from a ground control station needs some key parameters to be decided in advance. Those are a required communication capacity, a required performance of a vision system and a robot control system. The required communication capacity is decided mainly by the required quality of the video image which is sent from the remote robot site. These parameters were decided by the teleoperation experiments under the simulated space robot operation environment on an on-ground space robot testbed. Effect of the time delay in the robot control loop and its countermeasures were also evaluated.