Abstract
This paper describes a hardware-in-the-loop simulation of massive-payload manipulation on orbit using a master–slave teleoperation system. The main problems in teleoperating a space robot arm from the earth to manipulate a massive payload are communication delay, unexpected excessive force generated between the slave arm and the payload, and geometric/dynamic modeling error. In order to overcome those problems, a teleoperation system using mixed force and motion commands is discussed. The teleoperation system is verified by performing hardware-in-the-loop simulations.
Original language | English |
---|---|
Article number | 19 |
Journal | ROBOMECH Journal |
Volume | 5 |
Issue number | 1 |
DOIs | |
Publication status | Published - 2018 Dec 1 |
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Keywords
- Hardware-in-the-loop simulation
- Massive object
- Teleoperation
- Virtual environment
ASJC Scopus subject areas
- Modelling and Simulation
- Instrumentation
- Mechanical Engineering
- Control and Optimization
- Artificial Intelligence
Cite this
Hardware-in-the-loop simulation of massive-payload manipulation on orbit. / Yang, Jaesung; Konno, Atsushi; Abiko, Satoko; Uchiyama, Masaru.
In: ROBOMECH Journal, Vol. 5, No. 1, 19, 01.12.2018.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Hardware-in-the-loop simulation of massive-payload manipulation on orbit
AU - Yang, Jaesung
AU - Konno, Atsushi
AU - Abiko, Satoko
AU - Uchiyama, Masaru
PY - 2018/12/1
Y1 - 2018/12/1
N2 - This paper describes a hardware-in-the-loop simulation of massive-payload manipulation on orbit using a master–slave teleoperation system. The main problems in teleoperating a space robot arm from the earth to manipulate a massive payload are communication delay, unexpected excessive force generated between the slave arm and the payload, and geometric/dynamic modeling error. In order to overcome those problems, a teleoperation system using mixed force and motion commands is discussed. The teleoperation system is verified by performing hardware-in-the-loop simulations.
AB - This paper describes a hardware-in-the-loop simulation of massive-payload manipulation on orbit using a master–slave teleoperation system. The main problems in teleoperating a space robot arm from the earth to manipulate a massive payload are communication delay, unexpected excessive force generated between the slave arm and the payload, and geometric/dynamic modeling error. In order to overcome those problems, a teleoperation system using mixed force and motion commands is discussed. The teleoperation system is verified by performing hardware-in-the-loop simulations.
KW - Hardware-in-the-loop simulation
KW - Massive object
KW - Teleoperation
KW - Virtual environment
UR - http://www.scopus.com/inward/record.url?scp=85052572042&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85052572042&partnerID=8YFLogxK
U2 - 10.1186/s40648-018-0116-8
DO - 10.1186/s40648-018-0116-8
M3 - Article
AN - SCOPUS:85052572042
VL - 5
JO - ROBOMECH Journal
JF - ROBOMECH Journal
SN - 2197-4225
IS - 1
M1 - 19
ER -