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Teleoperation for On-Orbit Servicing Missions through the ASTRA Geostationary Satellite

Artigas, Jordi and Balachandran, Ribin and De Stefano, Marco and Panzirsch, Michael and Lampariello, Roberto and Albu-Schäffer, Alin and Harder, Jan and Letschnik, Jürgen (2016) Teleoperation for On-Orbit Servicing Missions through the ASTRA Geostationary Satellite. In: IEEE Aerospace Conference Proceedings. Aerospace Conference, 2016 IEEE, 5-12 Mar 2016, Yellowstone Conference Center, Big Sky, Montana,. DOI: 10.1109/AERO.2016.7500785

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Official URL: http://ieeexplore.ieee.org/document/7500785/

Abstract

Force-feedback teleoperation for on-orbit servicing tasks demands real-time communication requirements, latencies below one second and the presence of a skilled human operator to perform the on-orbit servicing tasks in real-time from an on-ground station. On the other hand, teleoperation is a technology that enjoys high TRLs, has evidenced benefits in other domains as nuclear or medical and has little dependency on optical sensors and image processing algorithms that need to operate in extreme illumination conditions. While all of these factors could be of high value in future on-orbit servicing missions, the following questions remain still to be answered: 1) How is the free floating dynamics and time delay affecting the control structure of the system? 2) Can current space communication infrastructures support real time control requirements established by the bilateral controller (i.e. force-feedback teleoperation)? 3) Can a skilled human operator perform on-orbit servicing tasks through the teleoperation system, probably affected by high latencies and force-feedback distortions? This paper presents initial answers to these questions based on results from a force-feedback teleoperation system that has been implemented using the ASTRA geostationary satellite and the DLR on-orbit servicing facility (OOS-SIM).

Item URL in elib:https://elib.dlr.de/111507/
Document Type:Conference or Workshop Item (Speech)
Title:Teleoperation for On-Orbit Servicing Missions through the ASTRA Geostationary Satellite
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Artigas, Jordijordi.artigas (at) dlr.deUNSPECIFIED
Balachandran, Ribinribin.balachandran (at) dlr.deUNSPECIFIED
De Stefano, Marcomarco.destefano (at) dlr.deUNSPECIFIED
Panzirsch, Michaelmichael.panzirsch (at) dlr.deUNSPECIFIED
Lampariello, Robertoroberto.lampariello (at) dlr.deUNSPECIFIED
Albu-Schäffer, Alinalin.albu-schaeffer (at) dlr.deUNSPECIFIED
Harder, Janj.harder (at) tumUNSPECIFIED
Letschnik, JürgenUNSPECIFIEDUNSPECIFIED
Date:2016
Journal or Publication Title:IEEE Aerospace Conference Proceedings
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI :10.1109/AERO.2016.7500785
Status:Published
Keywords:teleoperation, time-dalay, on-orbit servicing, satellite, control, OOS-SIM.
Event Title:Aerospace Conference, 2016 IEEE
Event Location:Yellowstone Conference Center, Big Sky, Montana,
Event Type:international Conference
Event Dates:5-12 Mar 2016
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 on Orbit Servicing
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: De Stefano, Marco
Deposited On:19 May 2017 14:50
Last Modified:19 May 2017 14:50

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