METHODS FOR INCREASING THE EFFECTIVENESS OF REMOTE CONTROL OF A FREE-FLYING SPACE MANIPULATION ROBOT
Abstract
Free-flying space robot control system with force-feedback control is presented. In this pa-per, the teleoperation control scheme for free-flying space robot under time-varying delay is inves-tigated. Time Domain Passivity Approach (TDPA) has been implemented to insure the system stability. TDPA is really powerful and flexible approach to guarantee passivity of space teleoperation robotic systems, but it results to position drift of Slave manipulator. To illuminate this drawback, the position drift compensation method has been implemented. Local force feedforward has been widely used to reduce the apparent inertia of haptic interfaces. This pro-vides the human operator with an apparently lighter haptic device, which reduces the physical effort demanded from him while teleoperating a slave device in a real or virtual environment. Although local force feedback reduces the apparent inertia during free motion of the slave device, it also reduces the apparent contact stiffness felt by the operator during slave-environment inter-action that reduces the system transparency. In this paper, a time-continuous, non-linear local force feedback control is proposed which produces low inertia of the haptic interface during freeslave motion as well as higher transparency during slave-environment interactions, by modifying the gain as a function of the measured forces of the slave-environment interaction. Stability of the system is proven using damping injection based time domain passivity approach. Virtual stand has been created for proposed algorithms testing and simulation of the free-flying space teleoperation system with force-feedback control under time-varying delay has been performed.
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