원문정보
보안공학연구지원센터(IJSIP)
International Journal of Signal Processing, Image Processing and Pattern Recognition
Vol.9 No.11
2016.11
pp.83-92
피인용수 : 0건 (자료제공 : 네이버학술정보)
초록
영어
On-orbit servicing robots were developed to complete the missions in the uncertain and hazards outer space. The operator controls the remote robot via teleoperation systems, which allows the operator to manipulate the robot at a distance. But, as the existing of communication time-delay affects the whole system stability, transparency and other performance index. Consequently, a proper teleoperation system could help the operator to perform missions more accurate. This paper presents the general scheme of the teleoperation system, compares the four typical control modes and estimates methods of time-delay. At last provides an outlook to future research directions.
목차
Abstract
1. Introduction
2. General Scheme of On-Orbit Servicing Robot Teleoperation System
2.1. General Scheme of Teleoperation System
2.1. Successful Application of Teleoperation System
3. Key Technology of Teleoperation System
3.1. On-Orbit Servicing Robot Simulation
3.2. Comparison Four Kinds of Typical Control Modes of Teleoperation System
3.3. Controller Designing
3.4. Estimation of Time-Delay
4. Conclusions
References
1. Introduction
2. General Scheme of On-Orbit Servicing Robot Teleoperation System
2.1. General Scheme of Teleoperation System
2.1. Successful Application of Teleoperation System
3. Key Technology of Teleoperation System
3.1. On-Orbit Servicing Robot Simulation
3.2. Comparison Four Kinds of Typical Control Modes of Teleoperation System
3.3. Controller Designing
3.4. Estimation of Time-Delay
4. Conclusions
References
저자정보
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자료제공 : 네이버학술정보