Artigas Esclusa, Jordi and Balachandran, Ribin and Riecke, Cornelia and Stelzer, Martin and Weber, Bernhard and Ryu, Jee-Hwan and Albu-Schäffer, Alin Olimpiu (2016) KONTUR-2: Force-feedback Teleoperation from the International Space Station. In: IEEE International Conference on Robotics and Automation ICRA. IEEE International Conference on Robotics and Automation, Stockholm, Sweden.
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Abstract
This paper presents a new robot controller for space telerobotics missions specially designed to meet the requirements of KONTUR-2, a German & Russian telerobotics mission that addressed scientific and technological questions for future planetary explorations. In KONTUR-2, Earth and ISS have been used as a test-bed to evaluate and demonstrate a new technology for real-time telemanipulation from space. During the August 2015' experiments campaign, a cosmonaut teleoperated a robot manipulator located in Germany, using a force-feedback joystick from the Russian segment of the International Space Station (ISS). The focus of the paper is on the design and performance of the bilateral controller between ISS joystick and Earth robot. The controller is based on a 4-Channels architecture in which stability is guaranteed through passivity and the Time Delay Power Network (TDPN) concept. We show how the proposed approach successfully fulfills mission requirements, specially those related to system operation through space links and internet channels, involving time delays and data losses of different nature.
Item URL in elib: | https://elib.dlr.de/105317/ | ||||||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||||||
Title: | KONTUR-2: Force-feedback Teleoperation from the International Space Station | ||||||||||||||||||||||||
Authors: |
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Date: | 16 May 2016 | ||||||||||||||||||||||||
Journal or Publication Title: | IEEE International Conference on Robotics and Automation ICRA | ||||||||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||||||||
Open Access: | Yes | ||||||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||||||
In SCOPUS: | No | ||||||||||||||||||||||||
In ISI Web of Science: | Yes | ||||||||||||||||||||||||
Status: | Published | ||||||||||||||||||||||||
Keywords: | Teleoperation, Force-Feedback, ISS Joystick | ||||||||||||||||||||||||
Event Title: | IEEE International Conference on Robotics and Automation | ||||||||||||||||||||||||
Event Location: | Stockholm, Sweden | ||||||||||||||||||||||||
Event Type: | international Conference | ||||||||||||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||||||
HGF - Program: | Space | ||||||||||||||||||||||||
HGF - Program Themes: | Space Technology | ||||||||||||||||||||||||
DLR - Research area: | Raumfahrt | ||||||||||||||||||||||||
DLR - Program: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||
DLR - Research theme (Project): | R - Vorhaben Telerobotik, R - Raumflugbetrieb / Teleoperation (old) | ||||||||||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems | ||||||||||||||||||||||||
Deposited By: | Radhakrishna Balachandran, Ribin | ||||||||||||||||||||||||
Deposited On: | 04 Nov 2016 12:54 | ||||||||||||||||||||||||
Last Modified: | 31 Jul 2019 20:02 |
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