Control System Design of Teleoperation System for Free Flying Space Robot

摘要

Master-slave teleoperation system has been used to assist the operator to perform complex and uncertain tasks in space. The system consists of master robot with fixed base located in space station or on the ground and slave robot floating in space. In this paper, the analysis and design of master-slave teleoperation in space are discussed. A master-slave control system that ensures accurate tracking of slave robot upon the master and the stabilization of slave robot's base is proposed. The validity of proposed scheme and performance of system is confirmed by simulations and experiments.