Model-based space robot teleoperation of ETS-VII manipulator

Woo Keun Yoon, Toshihiko Goshozono, Hiroshi Kawabe, Masahiro Kinami, Yuichi Tsumaki, Masaru Uchiyama, Mitsushige Oda, Toshitsugu Doi

Research output: Contribution to journalArticlepeer-review

136 Citations (Scopus)


In our previous research, we developed space robot teleoperation technology to achieve control from the ground of effective manual manipulations in orbit. To solve the communication time delay in the space robot teleoperation, we propose a mixed force and motion command-based space robot teleoperation system that is a model-based teleoperation. Moreover, we have also developed a compact 6-degree-of-freedom haptic interface as a master device. The important features of our teleoperation system are its robustness against modeling errors and its ability to realize the force exerted by the operator at the remote site. In this paper, we introduce a new control method, which modified our model-based teleoperation system, to control the real robotic system Engineering Test Satellite VII manipulator. Surface-tracking and peg-in-hole tasks have been performed to confirm the effectiveness of our system. The experimental results obtained with our system including the haptic interface demonstrate its ability to perform these tasks in space without any major problems. We also evaluated different master device approaches for the model-based space teleoperation system. For this purpose, we used two methods, which are a master-slave (MS) approach and a force-joystick approach. Our results show that the MS approach is the best control method for contact tasks in which the directions of motion of the slave arm and of the operator's input force are different, as in the surface-tracking task.

Original languageEnglish
Pages (from-to)602-612
Number of pages11
JournalIEEE Transactions on Robotics and Automation
Issue number3
Publication statusPublished - 2004 Jun
Externally publishedYes


  • Engineering Test Satellite VII (ETS-VII) manipulator
  • Force feedback
  • Force-joystick (FJ)
  • Haptic interface
  • Master-slave (MS)
  • Model-based teleoperation
  • Modeling error

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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