Methods of remote control over space robots

摘要

The paper proposes methods for remote control over space robots. An advanced and realistic approach to the creation of a system of remote control over space robots is proposed and proved theoretically. Considered methods involve using interface-simulator including a model of the robot and its external environment, as well as simulated gravity conditions in the operation area, in particular, conditions of weightlessness. However, constructing ideal models of the robot and its external environment is impossible. In the paper the methods of correcting erroneous actions of the robot caused by the “nonideal” models of external environment are proposed. The results of experimental testing the given theoretical conclusions with the use of a prototype system of control over space robots are given.