Teleoperation of Engineering Test Satellite VII Mounted Robotic Arm Using a Haptic Interface.
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- Yoon Woo-Keun
- Graduate School of Engineering, Tohoku University
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- Goshozono Toshihiko
- Toshiba Corporation
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- Kawabe Hiroshi
- Graduate School of Engineering, Tohoku University
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- Kinami Masahiro
- Graduate School of Engineering, Tohoku University
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- Tsumaki Yuichi
- Graduate School of Engineering, Tohoku University
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- Uchiyama Masaru
- Graduate School of Engineering, Tohoku University
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- Oda Mitsushige
- National Space Development Agency of Japan
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- Doi Toshitsugu
- Toshiba Corporation
Bibliographic Information
- Other Title
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- ハプティックインタフェースを用いた技術試験衛星VII型搭載ロボットアームの遠隔操作
- ハプティックインタフェース オ モチイタ ギジュツ シケン エイセイ VIIガタ トウサイ ロボットアーム ノ エンカク ソウサ
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Abstract
In our previous work, we have proposed a mixed force and motion commands based space robot teleoperation system and a compact 6-DOF haptic interface to achieve an effective manual teleoperation. Until now, the effectiveness of this system and the haptic interface have been confirmed by the experiments in our laboratory. The most important features of this teleoperation system are a robustness against modeling errors and an ability to realize an operator's force at a remote site. In this paper, elements of this system and the haptic interface have been employed to teleoperate the 6-DOF manipulator mounted on the real space robot system ETS-VII. Surface tracking and peg-in-hole tasks have been executed to confirm the effectiveness of our system and the haptic interface. The results show that our space robot teleoperation system including the haptic interface has been able to execute these tasks in real space without any problems.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 19 (4), 518-527, 2001
The Robotics Society of Japan
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Details 詳細情報について
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- CRID
- 1390001204726785664
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- NII Article ID
- 10007546090
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 5765129
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed