A Telerobot System For Space Antenna Assembly Experiments

摘要

This paper describes a telerobot system and its application to space antenna assembly experiments. In this system, the operator utilizes an Integrated Teleoperation Console to operate multiple arms and cameras from a remote site, employing such system supports as visual guidance, ForcelTorque sensing, interactive user interface, and real-time graphic kzsk simulation. Visual guidance is semi-autonomous in that the robot itself is also capable of interpreting visual information and grasping target objects. In the study, assemblyldisassembly experiments are carried out on an space antenna consisting of a center dish surrounded by eight separate outer antenna segments. The accuracy of visual guidance positioning is evaluated experimentally. Results prove the effectiveness of both the telerobot experiment system and the space antenna structure. investigate this system's potential effectiveness for use in space. The antenna used was a version with improved assembly reliability. The positioning accuracy of the semi- autonomous visual guidance system was first evaluated experimentally, and then multiple segments were assembled and disassembled. In the segment grasping stage of the assembly experiments, the segment holder position was shifted to verify visual guidance. Positioning shifts were intentionally applied to robot motion commands in the assembly stage of the experiments to simulate actual robot motion in space. In spite of these shifts, accurate coupling was successfully achieved and the effectiveness of the system demonstrated.