J-014

Onboard Local Compensation on ETS-VII Space Robot Teleoperation

Authors: Mitsushige Oda, Noriyasu Inaba and Yutaka Takano (1)
Shin'ichiro Nishida, Masato Hayashi and Takashi Sugano (2)
Affiliation: (1) ETS-VII project team,
National Space Development Agency of Japan,
2-1-1 Sengen, Tsukuba 305-8505, Japan
inaba.noriyasu@nasda.go.jp

(2) Space robotics engineering group,
Toshiba corporation Komukai works,
1 Komukaii-toshiba-cho, Saiwai-ku,
Kawasaki 210-8581, Japan
shinichiro2.nishida@toshiba.co.jp

Abstract
Space robots teleoperated from the ground will augment human on-orbit capabilities with safety of astronauts. Target applications of space robots include on-orbit satellite assembly, maintenance, repair, refueling and science experiment servicing. A robot satellite named ETS-VII space robot experiments have been conducted using it. Algorithms of onboard local compensation for teleoperation error due to communication time delay are described in this paper. On-board robot flight experiment results using the function are also discussed in this paper.