ETS-VII 搭載マニピュレーターの遠隔操作時におけるマスタスレーブ方式と力ジョイスティック方式の比較

概要

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In general, the master slave system which can display both position and force information to an operator is not used for earth to space teleoperation, since the system becomes unstable due to the communication time delay problems. Therefore, a joystick has been a popular master device in the space teleoperation until now. However, the master slave approach can be applied to a model-based space teleoperation employing the virtual reality techniques. In our previous works, a model-based space teleoperation system which has robustness against modeling errors has been demonstrated using a real space system Engineering Test Satellite VII (ETS-VII). This approach has lead to a new possibility of the master slave control in the space teleoperation. In this paper, the operability of the master slave control is compared with a force joystic control from different angles using the real space system ETS VII.
2001-10-25