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An Experimental Teleoperation System for Dual-Arm Space Robotics
Woo-Keun Yoon, Yuichi Tsumaki and Masaru Uchiyama
Department of Aeronautics and Space Engineering, Graduate School of Engineering, Tohoku University, Aoba-yama 01, Sendai 980-8579, Japan
Received:December 20, 1999Accepted:April 11, 2000Published:August 20, 2000
Keywords:Space robot teleoperation, Dual arm robot, Haptic interface, Computer graphics, Human interface
Abstract
An experimental teleoperation system for dual-arm space robotics has been developed. A purpose of our work using this system is a development of space robot teleoperation technologies, which can replace skills of an astronaut. Therefore, several concepts for flexibility and practicability are introduced to establish this setup. This system is composed of the space system, the ground system and the software development system. The space system includes dual 7-DOF manipulators, multipurpose hands, force/torque sensors and an image processing system. The ground system is composed of a master arm and a graphic workstation. A novel developed 6-DOF haptic interface device is employed as a master arm. To achieve an effective teleoperation ability, new concepts of virtual grip and virtual ball are introduced.
Cite this article as:W. Yoon, Y. Tsumaki, and M. Uchiyama, “An Experimental Teleoperation System for Dual-Arm Space Robotics,” J. Robot. Mechatron., Vol.12 No.4, pp. 378-384, 2000.Data files:
Copyright© 2000 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.
