Ground-remote control for space station telerobotics with time delayThe study proposes a ground-remote telerobot control architecture which could be used for control of Space Station Freedom manipulators. The architecture provides two local-site operator control stations representing potential earth-based and remote Space Station-based operator control stations. A unified control system at the remote site provides autonomous, shared, and teleoperation control for single-and dual-arm task execution. An operational laboratory system which demonstrates the feasibility of various technologies in the proposed architecture, including teleoperation, shared control, and supervised autonomy, is described. Enhancements to the system currently under development, including remote site implementation in Ada, integration and control of a redundant 7-DOF manipulator, and local site advanced operator aids, are also described.
Document ID
19930066595
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Backes, Paul G. (JPL Pasadena, CA, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1992
Publication Information
Publication: In: Guidance and control 1992; Proceedings of the 15th Annual AAS Rocky Mountain Conference, Keystone, CO, Feb. 8-12, 1992 (A93-50576 21-18)