Teleoperation of free-floating space manipulator systems

Evangelos G. Papadopoulos

doi:10.1117/12.142103

26 March 1993 Teleoperation of free-floating space manipulator systems

Evangelos G. Papadopoulos

Proceedings Volume 1833, Telemanipulator Technology; (1993) https://doi.org/10.1117/12.142103
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States

Abstract

Free-flying space robotic devices, in which manipulators are mounted on a thruster-equipped spacecraft, will assist in the construction, repair and maintenance of satellites and future space stations. Operation in a free-floating mode, in which spacecraft thrusters are turned off, increases a system's life. The teleoperation of free-floating systems is complicated due to the dynamic coupling between a system's manipulator and its spacecraft. Controlling such a system using visual feedback is not straightforward, especially when the task is to move the end-effector with respect to an inertially fixed target. In addition, free-floating systems are subject to path-dependent Dynamic Singularities, which restrict the paths by which Path Dependent Workspace points can be reached. These characteristics can result in increased operator burden during system teleoperation. A teleoperation planning system to assist the operator of a free-floating space robot is presented. Given an initial and a target end-effector location, and an optimal connecting path, this system examines the feasibility of reaching the target from the initial location. If a problem is detected, the system proposes an alternative feasible path. An example demonstrates the value of such a teleoperator planning aid.

Citation Download Citation

Evangelos G. Papadopoulos "Teleoperation of free-floating space manipulator systems", Proc. SPIE 1833, Telemanipulator Technology, (26 March 1993); https://doi.org/10.1117/12.142103

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available