TELEOPERATION CONTROL OF ETS-7 ROBOT
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: firstname.lastname@example.org
Hiroshi Ueno, Tetsuji Yoshida, Yuhtaro Fukase
Space Systems Division, Shimizu Corporation
2-3, Shibaura 1-chome, Minato-ku, Tokyo, 105-07, Japan
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
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
teleoperation robot systems on the satellite, such as the
arm, vision, communication, controller, and the ground
For this space robotics experiment, other three
national institutes, ETLIMITI, CRL") and
cooperated with each experiment, with own experiment
apparatuses on the satellite, and with own ground facility
for the ground teleoperation experiment.
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.
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.