Design and realization of the experimental platform of space robot bilateral teleoperation system

An experimental platform of bilateral teleoperation system is developed to meet the needs of the task requirement of the space robot monitoring in orbit, and it is composed of three modules for master force-reflecting parallel connection hand controller of Delta, Siemens Manutec r3 industrial robot and the communication simulator. Delta is the device of human-computer interaction and the perception of r3 industrial robot can be received, while Siemens Manutec r3 industrial robot can be controlled under the operator and the given tasks can be completed. The communication simulator emulates time delay and bandwidth of the teleoperation system. The experiment results are given to verify the effectiveness of the developed system.