TY - JOUR
T1 - Model-based teleoperation of a space robot on ETS-VII using a haptic interface
AU - Yoon, Woo Keun
AU - Goshozono, Toshihiko
AU - Kawabe, Hiroshi
AU - Kinami, Masahiro
AU - Tsumaki, Yuichi
AU - Uchiyama, Masaru
AU - Oda, Mitsushige
AU - Doi, Toshitsugu
N1 - Copyright:
Copyright 2017 Elsevier B.V., All rights reserved.
PY - 2001
Y1 - 2001
N2 - In our previous works, 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 has been confirmed by the experiments in our laboratory. The most important features of this teleoperation system are robustness against modeling errors and ability to realize the operator exerted force at a remote site. In this paper, elements of this system and the haptic interface have beer, employed to teleoperate the 6-DOF manipulator mounted on the Engineering Test Satellite VII (ETS-VII) which is a real space robotic system. Surface-tracking and peg-in-hole tasks with modeling errors have been executed in this experiment. The results show that our space robot teleoperation system including the haptic interface has been able to execute these tasks in real space environment without any big problems.
AB - In our previous works, 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 has been confirmed by the experiments in our laboratory. The most important features of this teleoperation system are robustness against modeling errors and ability to realize the operator exerted force at a remote site. In this paper, elements of this system and the haptic interface have beer, employed to teleoperate the 6-DOF manipulator mounted on the Engineering Test Satellite VII (ETS-VII) which is a real space robotic system. Surface-tracking and peg-in-hole tasks with modeling errors have been executed in this experiment. The results show that our space robot teleoperation system including the haptic interface has been able to execute these tasks in real space environment without any big problems.
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U2 - 10.1109/ROBOT.2001.932585
DO - 10.1109/ROBOT.2001.932585
M3 - Article
AN - SCOPUS:0034877228
VL - 1
SP - 407
EP - 412
JO - Proceedings - IEEE International Conference on Robotics and Automation
JF - Proceedings - IEEE International Conference on Robotics and Automation
SN - 1050-4729
ER -