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首页> 外文期刊>日本ロボット学会誌 >Ground-space teleoperation of a robot arm mounted on engineering test satellite No. VII by direct bilateral coupling under a long time delay condition
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Ground-space teleoperation of a robot arm mounted on engineering test satellite No. VII by direct bilateral coupling under a long time delay condition

机译：长时间延迟条件下通过直接双向耦合直接安装在第七号工程测试卫星上的机械臂的地面空间遥操作

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摘要

A bilateral teleoperation experiment with Engineering Test Satellite No.VII (ETS-VII) was conducted on November 22, 1999. Round-trip time for communication between the NASDA ground station and ETS-VII was approximately six to seven seconds. We constructed a bilateral teleoperator that is stable even under such a long time delay. Several experiments, such as slope tracing task and peg-in-hole task, were carried out. Task performance was compared between bilateral mode and unilateral mode with force telemetry data visually displayed on a screen. All tasks were possible by bilateral control without any visual information. Experimental results showed that kinesthetic force feedback to the operator is helpful even under such long time delay and improves the performance of the task.
机译：1999年11月22日，进行了第VII号工程测试卫星（ETS-VII）的双边遥测实验。NASDA地面站和ETS-VII之间的通信往返时间约为六至七秒。我们构建了即使在如此长时间的延迟下仍可保持稳定的双边遥操作器。进行了一些实验，例如坡度追踪任务和孔内钉任务。通过在屏幕上直观显示力遥测数据，比较了双边模式和单边模式之间的任务性能。无需任何视觉信息即可通过双边控制完成所有任务。实验结果表明，即使在如此长时间的延迟下，对操作者的动觉力反馈也是有帮助的，并且可以改善任务的执行情况。

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