This paper describes an experimental set-up for a multimodal space telepresence system, providing a testing environment for on-orbit satellite servicing operations. The system lumps two light-weight-robots (LWR), which create a bilateral force-coupled master-slave system, a robot-based satellite simulator, a set of cameras combined with a head mounted display (HMD), together with a channel emulator, which allows a realistic delayed-lossy treatment of the transmitted data. Within the coming years, the field of space engineering will have to face problems related to satellite maintenance and repair, orbit correction or even de-orbiting. Telepresence renders the most feasible approach towards the problem of on-orbit satellite servicing, in opposition to direct astronaut manipulation or autonomous-robotic-based solutions. The paper describes the testbed, and considers and explores multi-degree-of-freedom (DoF) stability of the haptic bilateral channel, implementation issues, as well as lossy delayed communication channels.
TTOSS: testbed for telepresent on-orbit satellite servicing
TTOSS: Testumgebung für einen Telepräsenz-Satelliten-Wartungsroboter
2006
6 Seiten, 3 Bilder, 14 Quellen
Conference paper
English
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