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KONTUR-2: Force-feedback Teleoperation from the International Space Station

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/
Document Type:Conference or Workshop Item (Speech)
Title:KONTUR-2: Force-feedback Teleoperation from the International Space Station
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Artigas Esclusa, JordiJordi.Artigas (at) dlr.deUNSPECIFIED
Balachandran, Ribinribin.balachandran (at) dlr.deUNSPECIFIED
Riecke, CorneliaCornelia.Riecke (at) dlr.deUNSPECIFIED
Stelzer, MartinMartin.Stelzer (at) dlr.deUNSPECIFIED
Weber, BernhardBernhard.Weber (at) dlr.deUNSPECIFIED
Ryu, Jee-HwanKorea University of Technology and EducationUNSPECIFIED
Albu-Schäffer, Alin OlimpiuAlin.Albu-Schaeffer (at) dlr.deUNSPECIFIED
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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