NDLI: Reducing attitude disturbances while teleoperating a space manipulator

Content Provider	IEEE Xplore Digital Library
Author	Sato, Y. Hirata, M. Nagashima, F. Maruyama, T. Uchiyama, T.
Copyright Year	1993
Description	Author affiliation: Fujitsu Lab. Ltd., Kawasaki, Japan (Sato, Y.; Hirata, M.; Nagashima, F.; Maruyama, T.; Uchiyama, T.)
Abstract	A practical teleoperation method for satellite-mounted robot manipulators operated from the ground is described. This control scheme keeps the satellite attitude stable to within specified limits, maintaining the communication link between the satellite and the ground. The authors' method uses algorithms which dynamically reduce slave manipulator velocity as well as feedforward controlling satellite attitude. The operator on the ground 'virtually' teleoperates the slave manipulator in the graphic simulator without considering the resulting disturbances to the satellite attitude, during which the reference velocity of the slave manipulator is dynamically slowed down by estimating the satellite attitude disturbances. Preliminary experiments using a real-time graphic simulator show that the satellite attitude can be successfully kept within the fine limits needed to safely complete teleoperation tasks.
Starting Page	516
Ending Page	523
File Size	672647
Page Count	8
File Format	PDF
ISBN	0818634502
DOI	10.1109/ROBOT.1993.292224
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1993-05-02
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulator dynamics Artificial satellites Attitude control Communication system control Graphics Wheels Delay effects Laboratories Orbital robotics Heuristic algorithms
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
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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