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Shared control for robotic on-orbit servicing

Schmidt, Phillip and Balachandran, Ribin and Artigas Esclusa, Jordi (2016) Shared control for robotic on-orbit servicing. The Robotics: Science and Systems 2016, 18-22 Jun 2016, Michigan, USA.

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[img] PDF
206kB

Abstract

A shared control approach is proposed to reveal the synergies of visual servoing and telepresence in a robotic on-orbit servicing scenario. Both methods, visual servoing and telepresence, have their respective strengths and are subject to challenges for the task at hand. In a shared control approach, the advantages of a human operator in the loop, its ability to react and adapt to unanticipated and versatile change of conditions, outlast. While the visual servoing, for a controlled range of conditions, has the ability to achieve the task autonomously and, running on-board, without performance degradation due to the communication delay. In the proposed approach, the autonomy module can support the operator and reduce his workload. Already implemented as well as future features and ideas are presented in the following.

Item URL in elib:https://elib.dlr.de/113169/
Document Type:Conference or Workshop Item (Speech, Poster)
Title:Shared control for robotic on-orbit servicing
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Schmidt, Phillipphillip.schmidt (at) dlr.deUNSPECIFIED
Balachandran, Ribinribin.balachandran (at) dlr.deUNSPECIFIED
Artigas Esclusa, JordiJordi.Artigas (at) dlr.deUNSPECIFIED
Date:18 July 2016
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Teleoperation, visual-servoing, on-orbit servicing, shared control
Event Title:The Robotics: Science and Systems 2016
Event Location:Michigan, USA
Event Type:international Conference
Event Dates:18-22 Jun 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 Telerobotik
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:24 Jul 2017 11:41
Last Modified:31 Jul 2019 20:10

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