Bilateral control system of the space robot with large delays

G. Alferov, P. Efimova, D. Shymanchuk, S. Kadry, M. N. Meqdad

Abstract


The main obstacle of the construction of efficient remote-control systems for space robots is a significant delay in transmissions of control signals to robots from the earth-based control center and receiving feedback signals. This significantly complicates the solution of control problem, especially if robot’s manipulators move objects that have mechanical constraints. Our work describes a method for bilateral control of a space robot with large delays. The uniqueness of this method lies in the special structure of the control algorithm. Bilateral control implies force feedback necessary for the interaction of a space robot with objects that have holonomic connections. We present a new mathematical model of the elements of the bilateral control system and their computer implementation using specific examples.


Keywords


bilateral control; force feedback; nonlinear control systems; space robots; remote control;

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DOI: http://dx.doi.org/10.12928/telkomnika.v19i6.18837

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TELKOMNIKA Telecommunication, Computing, Electronics and Control
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