Methods of Supervisory Remote Control over Space Robots

摘要

A method of constructing bilateral supervisory control over space robots, which ensures the robot's system functions in the case of large transmission delays of control signals from the ground control center to the local space robot's control system, is described. The conditions for the stability of manipulating a robot and a sufficiently high level of transparency are found. An original positionforce glove-like interface to control the robot's manipulation is proposed, which ensures greater transparency of the kinesthetic interaction of the human hand with objects of the external environment than is the case with traditional interfaces in the form of a driving handle.