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Model‐based robot teleoperation with haptic interface

Woo‐Keun Yoon (Intelligent Systems Institute, AIST, Japan)
Yuichi Tsumaki (Department of Intelligent Machines and System Engineering, Hirosaki University, Japan)
Masaru Uchiyama (Department of Aeronautics and Space Engineering, Tohoku University, Japan)

Industrial Robot

ISSN: 0143-991x

Article publication date: 1 December 2003

608

Abstract

An experimental teleoperation system for space robotics has been developed. The purpose of using this system is the development of space robot teleoperation technologies which can replace the skills of an astronaut. Communication time delay is one of the biggest problems encountered by teleoperation of a space robot from the ground. To solve the time delay, we proposed a mixed force and motion command‐based space robot teleoperation system that is a model‐based teleoperation. Moreover, we have also developed a compact six‐DOF haptic interface as a master device. The effectiveness of our model‐based teleoperation technologies was verified by carrying out some tasks in a real space robotic system: the Engineering Test Satellite VII (ETS‐VII).

Keywords

Citation

Yoon, W., Tsumaki, Y. and Uchiyama, M. (2003), "Model‐based robot teleoperation with haptic interface", Industrial Robot, Vol. 30 No. 6, pp. 584-591. https://doi.org/10.1108/01439910310506855

Publisher

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MCB UP Ltd

Copyright © 2003, MCB UP Limited

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