TY - GEN
T1 - KONTUR-2
T2 - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
AU - Artigas, Jordi
AU - Balachandran, Ribin
AU - Riecke, Cornelia
AU - Stelzer, Martin
AU - Weber, Bernhard
AU - Ryu, Jee Hwan
AU - Albu-Schaeffer, Alin
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/6/8
Y1 - 2016/6/8
N2 - This paper presents a new robot controller for space telerobotics missions specially designed to meet the requirements of KONTUR-2, a German & Russian telerobotics mission that addressed scientific and technological questions for future planetary explorations. In KONTUR-2, Earth and ISS have been used as a test-bed to evaluate and demonstrate a new technology for real-time telemanipulation from space. During the August 2015' experiments campaign, a cosmonaut teleoperated a robot manipulator located in Germany, using a force-feedback joystick from the Russian segment of the International Space Station (ISS). The focus of the paper is on the design and performance of the bilateral controller between ISS joystick and Earth robot. The controller is based on a 4-Channels architecture in which stability is guaranteed through passivity and the Time Delay Power Network (TDPN) concept. We show how the proposed approach successfully fulfills mission requirements, specially those related to system operation through space links and internet channels, involving time delays and data losses of different nature.
AB - This paper presents a new robot controller for space telerobotics missions specially designed to meet the requirements of KONTUR-2, a German & Russian telerobotics mission that addressed scientific and technological questions for future planetary explorations. In KONTUR-2, Earth and ISS have been used as a test-bed to evaluate and demonstrate a new technology for real-time telemanipulation from space. During the August 2015' experiments campaign, a cosmonaut teleoperated a robot manipulator located in Germany, using a force-feedback joystick from the Russian segment of the International Space Station (ISS). The focus of the paper is on the design and performance of the bilateral controller between ISS joystick and Earth robot. The controller is based on a 4-Channels architecture in which stability is guaranteed through passivity and the Time Delay Power Network (TDPN) concept. We show how the proposed approach successfully fulfills mission requirements, specially those related to system operation through space links and internet channels, involving time delays and data losses of different nature.
UR - http://www.scopus.com/inward/record.url?scp=84977592961&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2016.7487246
DO - 10.1109/ICRA.2016.7487246
M3 - Conference contribution
AN - SCOPUS:84977592961
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1166
EP - 1173
BT - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 16 May 2016 through 21 May 2016
ER -