Verification of an advanced space teleoperation system using Internet

Hardware-in-the-loop simulation of massive-payload manipulation on orbit

“…4 Overview of the master system using mixed force and motion commands has been proposed [6,7]. This work uses model-based teleoperation [6,7], but it is modified to apply to massive payload manipulation. The main modification pertains to the scaling between the master arm and the slave arm.…”

“…The main modification pertains to the scaling between the master arm and the slave arm. The original modelbased teleoperation using mixed force and motion commands [6,7] assumed that the force and motion in both arms (master and slave arms) were of the same scale. However, in massive-payload manipulation, the force/ motion command given by a human operator should be scaled up so that the large-sized slave arm can manipulate the massive payload.…”

“…t is the sampling period of the controller. The original model-based teleoperation using mixed force and motion commands [6,7] was not always stable in HILS, and hence the damping term (the last term of the right hand side of 2) is added in this work.…”

“…Semiautonomy is a solution for efficient teleoperation under communication delay [3]. Model-based teleoperation via a virtual environment has also been enthusiastically studied [4][5][6]. However, in model-based teleoperation via a virtual environment, an unexpected excessive force could be generated by a modeling error in the geometric or dynamic properties of the slave arm and the payload.…”

“…In order to overcome the problem of modeling error in the teleoperation, the use of mixed force and motion commands has been proposed [6,7]. However, modelbased teleoperation assumes that the master and the slave arm have similar sizes, and therefore this teleoperation system cannot be directly applied to massivepayload manipulation.…”