Design and development of teleoperation system for space robot

摘要

Several remote control modes and a layered architecture for teleoperation of space robot(LATSR) are designed aiming at the characteristic of space robot.A teleoperation system for space robot is developed,which is comprised of five subsystems:the task planning subsystem,the master-slave control subsystem,the predictive simulation subsystem,the information processing subsystem and the ground-based validation subsystem.Experimental results verify the functionality and performance of the system and its subsystems.The flexible operation interface of the system provides simple user interface for general users,and the low-level control capability for roboticists.