Ground experiment system for space robots based on predictive bilateral control

摘要

This paper describes a ground experiment system for space robots based on an improved version of predictive bilateral control and the results of simulated space telemanipulation experiments. The predictive bilateral control provides both the predictive and virtual contact forces/torque along six degrees of freedom by a force reflected master-arm. The virtual contact forces are produced by the collision with a virtual guide model to move the slave-arm to a desired position quickly and safely. Ground simulation models can be calibrated by means of visual sensing using target marks. The simulator for previewing is designed to be reconfigurable by modularizing the basic functions. The system executes tasks including manual operations according to a program written in an interpreter language for interactive operations. Coupling experiments using ETS-VII Antenna Assembling Mechanism (AAM) and peg-in-hole tests were carried out to evaluate the system's effectiveness and the results obtained demonstrate that it is in fact effective. Currently, we are improving the system for the use in actual ETS-VII AAM experiments in space.