국내 최대 기계 및 로봇 연구정보

기술보고서

기술보고서 게시판 내용
타이틀	Teleoperation With Time Delay. A Survey and Its Use in Space Robotics
저자	Luis F. PENIN, Kohtaro MATSUMOTO
Keyword	teleperation; time delay; telerobotics; space robotics
URL	http://send.nal.go.jp/send/jpn/dlpdf.php3/naltr0001438t.pdf?id=NALTR0001438T
보고서번호	NAL-TR-1438T
발행년도	2002.2
출처	NAL (National Aerospace Laboratory of Japan)
ABSTRACT	The existence of time delay in the communication link is one of the most important problems regarding the stability of teleoperation systems. Space robot systems and on-orbit telerobotics technology will play an essential role in the construction and maintenance of large-scale structures, such as the International Space Station (ISS), but it is well known that in Earth orbit space applications the total cycle time is usually of 7 s. Many proposals have appeared in the literature through the years on how to conduct time-delayed teleoperation, but to date no comprehensive comparison study between them has been carried out. In this context, we decided to conduct a survey of all the proposals for time-delayed teleoperation present so far in the literature and compare them on the same grounds. This will give researchers in this field a better understanding of the problem and will help them have a clear view as to in what areas more research is needed to achieve continuous and smooth teleoperation in the presence of time delay. We have focused our study on the continuous teleoperation of robotic arms on orbit around the Earth. This will be the area of space robotics applications with the greatest demand in the following years. Special emphasis has been put throughout the study on the specific operational characteristics of this type of systems. Finally, we have proposed a framework for future research in the field. The framework is based on the definition of a nomenclature and a data flow diagram in which to express in a concise and compact way different algorithms. The utility of this framework is demonstrated both with a general example and with its application to different proposals present in the literature