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 |
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
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Cite this
Yang, J., Konno, A., Abiko, S., & Uchiyama, M. (2018). Hardware-in-the-loop simulation of massive-payload manipulation on orbit. ROBOMECH Journal, 5(1), [19]. https://doi.org/10.1186/s40648-018-0116-8