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TELEOPERATION CONTROL OF ETS-7 ROBOT ARM FOR ON-ORBIT TRUSS CONSTRUCTION Kohtaro Matsumoto, Sachiko Wakabayashi, Luis F Penin, Masahiro Nohmi Space Technology Research Group, National Aerospace Laboratory 7-44-1, Jindaiji-higashi, Chofu, Tokyo, 182-8522, Japan phone: +81-422-40-3170, fax:+81-422-40-3149, Email: matumoto@nal.go.jp Hiroshi Ueno, Tetsuji Yoshida, Yuhtaro Fukase Space Systems Division, Shimizu Corporation 2-3, Shibaura 1-chome, Minato-ku, Tokyo, 105-07, Japan phone:+81-3-5441-8951, fax:+81-3-5441-8955 ABSTRACT In this paper, we will present an overview and the re- sults of the teleoperation experiments of our truss struc- ture experiment on the Engineering Test Satellite 7, that have been done from last March 1998. The major pur- pose of our experiment is to establish the basic and ad- vanced teleoperation technology that will be useful for on-orbit truss construction for the future large scale space system. 1. INTRODUCTION At Nov. 28, 1997, NASDA launched the ETS-7 (En- gineering Test Satellite 7) (Fig.1). It has been devel- oped to demonstrate two major missions for the Japane- se future space activities, these are the rendezvous docking and the space robotics. For ETS-7, NASDA has developed the baseline teleoperation robot systems on the satellite, such as the arm, vision, communication, controller, and the ground facilitylO). For this space robotics experiment, other three national institutes, ETLIMITI, CRL") and NAL, have cooperated with each experiment, with own experiment apparatuses on the satellite, and with own ground facility for the ground teleoperation experiment. We, NAL, have implemented the TSE (Truss Structu- re Experiment) components on the ETS-7, and the Fig.1 ETS-7 before Launch ground teleoperation facility at Tsukuba Space Center. Until the last May 1999, we have finished almost all TSE planned experiments, and are preparing the phase 2 advanced experiments in the rest of this year. 2. GROUND TELE-OPERATION OF DEXTER- OUS TASKS BY SPACE ROBOT From the viewpoint of the expectation for the space robots1), current space robots have two problems, those are the lack of the ground teleoperation, and the lack of the dexterity of their works. Even in the space station era, the astronauts' on orbit manipulation are the primary operation for the station robots. The main reason is the lack of the technological maturity of the teleoperation, although the main tasks of the station robots will be the handling of the modules, that are designed for the robot works. Most of the EVA tasks, such as the repair or assem- bling, will still remain for the human tasks, since those tasks require the dexterous human operation. For the Hubble telescope repair mission, the space robot possi- bility was also considered instead of the human repair, and was not implemented because of the lack of maturity of the dexterous tasks.
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This note was uploaded on 02/24/2011 for the course AERO 520 taught by Professor Rs during the Spring '11 term at Istanbul Technical University.

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