NDLI: Force reflection for time-delayed teleoperation of Space robots

Content Provider	IEEE Xplore Digital Library
Author	Penin, L.F. Matsumoto, K. Wakabayashi, S.
Copyright Year	2000
Description	Author affiliation: Space Teleoperation Res. Group, Nat. Aerosp. Lab., Tokyo, Japan (Penin, L.F.)
Abstract	Continuous on-orbit teleoperation of robots by operators on Earth is seriously impeded by signal transmission delays imposed by limits on computer processing at transmission stations and satellite relay stations. For Earth-orbit applications the time delay is normally between 5-7 seconds. On the other hand, it is well known that task execution performance can be dramatically improved with the addition of some kind of force reflection (FR) to the operator, although time delay makes its application extremely difficult. This paper reports on several proposals to improve continuous teleoperation through long communication delays using force reflecting hand controllers. It also addresses the implementation of these ideas for the ground teleoperation of the ETS-7 satellite robot arm. Results of the first extensive application of FR for ground teleoperation of a real space robot are explained in detail.
Starting Page	3120
Ending Page	3125
File Size	686828
Page Count	6
File Format	PDF
ISBN	0780358864
ISSN	10504729
DOI	10.1109/ROBOT.2000.845143
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-04-24
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Reflection Orbital robotics Delay effects Force control Satellite ground stations Impedance Signal processing Relays Application software Proposals
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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