A prototype space telerobotic system

Describes an antenna assembly robot system. The system is composed of a teleoperating console, a real-time simulator, a robot arm, a robot controller and an assembly model space antenna. The console is equipped with a vision sensor using target marks to guide the antenna segment. The target mark image is superimposed with the reference target mark figure, so relative position differences from a desired object position can be detected visually. The real-time robot simulator is used to check the robot motion during the teleoperation. Antenna assembly experiments were carried out to investigate the effectiveness of using this system. Also, the vision sensor position detection accuracy was evaluated experimentally. To reduce operator´s burdens, another target mark for a visual feedback was designed and a two-arm telerobotic system, which includes a vision arm and a working arm, was proposed. Measurement accuracy of the vision sensor using the mark was also evaluated by numerical simulation. Using these space telerobotic systems, an astronaut can accomplish the task, such as the antenna assembly, without human extravehicular activities