Stoll, Enrico and Walter, Ulrich and Artigas, Jordi and Preusche, Carsten and Kremer, Philipp and Hirzinger, Gerd and Letschnik, Jürgen and Pongrac, Helena (2009) Ground verification of the feasibility of telepresent on-orbit servicing. Journal of Field Robotics, 26 (3), pp. 287-307. Wiley. ISSN 1556-4959.
![]()
|
PDF
960kB |
Official URL: http://portal.acm.org/citation.cfm?id=1527173
Abstract
In an ideal case telepresence achieves a state in which a human operator can no longer differentiate between an interaction with a real environment and a technical mediated one. This state is called transparent telepresence. The applicability of telepresence to on-orbit servicing (OOS), i.e., an unmanned servicing operation in space, teleoperated from ground in real time, is verified in this paper. For this purpose, a communication test environment was set up on the ground, which involved the Institute of Astronautics (LRT) ground station in Garching, Germany, and the European Space Agency (ESA) ground station in Redu, Belgium. Both were connected via the geostationary ESA data relay satellite ARTEMIS. Utilizing the data relay satellite, a teleoperation was accomplished in which the human operator as well as the (space) teleoperator was located on the ground. The feasibility of telepresent OOS was evaluated, using an OOS test bed at the Institute of Mechatronics and Robotics at the German Aerospace Center (DLR). The manipulation task was representative for OOS and supported real-time feedback from the haptic-visual workspace. The tests showed that complex manipulation tasks can be fulfilled by utilizing geostationary data relay satellites. For verifying the feasibility of telepresent OOS, different evaluation methods were used. The properties of the space link were measured and related to subjective perceptions of participants, who had to fulfill manipulation tasks. An evaluation of the transparency of the system, including the data relay satellite, was accomplished as well.
Item URL in elib: | https://elib.dlr.de/62486/ | |||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Document Type: | Article | |||||||||||||||||||||||||||
Title: | Ground verification of the feasibility of telepresent on-orbit servicing | |||||||||||||||||||||||||||
Authors: |
| |||||||||||||||||||||||||||
Date: | March 2009 | |||||||||||||||||||||||||||
Journal or Publication Title: | Journal of Field Robotics | |||||||||||||||||||||||||||
Refereed publication: | Yes | |||||||||||||||||||||||||||
Open Access: | Yes | |||||||||||||||||||||||||||
Gold Open Access: | No | |||||||||||||||||||||||||||
In SCOPUS: | Yes | |||||||||||||||||||||||||||
In ISI Web of Science: | Yes | |||||||||||||||||||||||||||
Volume: | 26 | |||||||||||||||||||||||||||
Page Range: | pp. 287-307 | |||||||||||||||||||||||||||
Publisher: | Wiley | |||||||||||||||||||||||||||
Series Name: | Special Issue on Space Robotics | |||||||||||||||||||||||||||
ISSN: | 1556-4959 | |||||||||||||||||||||||||||
Status: | Published | |||||||||||||||||||||||||||
Keywords: | feasibility of telepresent on-orbit servicing | |||||||||||||||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport (old) | |||||||||||||||||||||||||||
HGF - Program: | Space (old) | |||||||||||||||||||||||||||
HGF - Program Themes: | W SY - Technik für Raumfahrtsysteme | |||||||||||||||||||||||||||
DLR - Research area: | Space | |||||||||||||||||||||||||||
DLR - Program: | W SY - Technik für Raumfahrtsysteme | |||||||||||||||||||||||||||
DLR - Research theme (Project): | W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old) | |||||||||||||||||||||||||||
Location: | Oberpfaffenhofen | |||||||||||||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) > Robotic Systems | |||||||||||||||||||||||||||
Deposited By: | Beinhofer, Gabriele | |||||||||||||||||||||||||||
Deposited On: | 15 Jan 2010 08:47 | |||||||||||||||||||||||||||
Last Modified: | 06 Sep 2019 15:20 |
Repository Staff Only: item control page