Ground-Space Teleoperation of ETS-VII Robot Arm by Direct Bilateral Coupling under 7-sec Time Delay Condition

摘要

A bilateral teleoperation experiment with ETS-VII was conducted on November 22, 1999. Round-trip time for communication between the NASDA ground station and ETS-VII was approximately seven seconds. We constructed a bilateral teleoperator that is stable even under such a long time delay. Several experiments, such as slope tracing task and peg-in-hole task, were carried out. Experimental results showed that kinesthetic force feedback to the operator is helpful even under such long time delay and improves the performance of the task.