Model-based robot teleoperation with haptic interface

被引：2

作者：

Yoon, WK

Tsumaki, Y

Uchiyama, M

机构：

[1] Hirosaki Univ, Dept Intelligent Machines & Syst Engn, Hirosaki, Aomori, Japan

[2] Tohoku Univ, Dept Intelligent Machines & Syst Engn, Sendai, Miyagi 980, Japan

[3] Tohoku Univ, Dept Aeronaut & Space Engn, Sendai, Miyagi 980, Japan

来源：

INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION | 2003年 / 30卷 / 06期

关键词：

tactile sensors; space technology; robotics;

D O I：

10.1108/01439910310506855

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

An experimental teleoperation system for space robotics has been developed. The purpose of using this system is the development of space robot teleoperation technologies which can replace the skills of an astronaut. Communication time delay is one of the biggest problems encountered by teleoperation of a space robot from the ground. To solve the time delay, we proposed a mixed force and motion command-based space robot teleoperation system that is a model-based teleoperation. Moreover, we have also developed a compact six-DOF haptic interface as a master device. The effectiveness of our model-based teleoperation technologies was verified by carrying out some tasks in a real space robotic system: the Engineering Test Satellite VII (ETS-VII).

引用

页码：584 / 591

页数：8

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