In space teleoperation under time delay, performance differs significantly for the various control techniques, for example, 1) compliance control by a position/orientation command and 2) force control by a force/torque command. With the latter control technique, the robot arm moves toward the point where the external force/torque applied to the end effector becomes equal to the commanded value. This technique is effective for tracking a restricted trajectory of in peg-in-hole insertion, even though the teleoperation is performed under time delay. The effectiveness of force control is discussed. Experimental results for verification based on an on-orbit experiment for deploying and assembling a truss structure on the Engineering Test Satellite VII (ETS-VII) are presented. To perform the deployable truss operation task within the strongly limited experimental time on ETS-VII, it is necessary to choose the timing of sending commands and the direction of forces in correspondence to the current truss configuration . It is also shown that force control is effective for truss insertion during a truss assembly task, regardless of the time delay.
Teleoperation of a truss structure by force command in ETS-VII robotics mission
Ferngesteuerte Montage einer Fachwerkstruktur im Rahmen einer Mission des ETS-VII Weltraumroboters
AIAA Journal ; 40 , 2 ; 334-339
2002
6 Seiten, 15 Bilder, 9 Quellen
Aufsatz (Zeitschrift)
Englisch
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