Teleoperation of Engineering Test Satellite VII Mounted Robotic Arm Using a Haptic Interface.

摘要

In our previous work, we have proposed a mixed force and motion commands based space robot teleoperation system and a compact 6-DOF haptic interface to achieve an effective manual teleoperation. Until now, the effectiveness of this system and the haptic interface have been confirmed by the experiments in our laboratory. The most important features of this teleoperation system are a robustness against modeling errors and an ability to realize an operator's force at a remote site. In this paper, elements of this system and the haptic interface have been employed to teleoperate the 6-DOF manipulator mounted on the real space robot system ETS-VII. Surface tracking and peg-in-hole tasks have been executed to confirm the effectiveness of our system and the haptic interface. The results show that our space robot teleoperation system including the haptic interface has been able to execute these tasks in real space without any problems.