Teleoperation of a space robot experiment system

摘要

This paper developed a teleoperation system of a space robot, which can assist the operator in planning trajectory quickly and intuitively. In addition to the general function, this system can ensure the completion of certain mission when some joint of the space robot is locked for a hardware malfunction. The teleoperation system includes 4 subsystems-Graphics display subsystem, Camera monitor subsystem, Tasks plan subsystem, and Haptic interface subsystem. The experimental results and the analysis of the data generated validate the effectiveness and correctness of our system.