F.M. Kulakov
Doctor of Technical Science, Federal state budgetary institution of Science of Saint-Petersburg Institute for Informatics and Automation of the Russian Academy of Sciences (SPIIRAS), Professor, Honored Worker of Science, Chief Research Scientist, 39, 14 line V.O., Saint-Petersburg, 199178, Russia, tel.: +7(906)244-82-16, This email address is being protected from spambots. You need JavaScript enabled to view it.
Abstract
Remote control methods for space robots at considerable transmission delay of control signals from the Earth to the local robot guidance system are suggested. Article is published in two parts. In the following first part a general approach to the remote control system implementation is given. It is founded on the use of ground-based simulator of robot and its environment whereby program trajectory generation for space robot is conducted. Development methods of such simulator are set, and its availability is substantiated. This research is supported by the Russian Foundation for Basic Research (projects 1408-01225а, 15-07-04415-a, 15-01-02021-a).
Key words
Robot manipulator, master-slave control, supervisory control.
Year 2016 Issue number 1 Consecutive issue number 10 Pages 55-61
UDC identifier: 629.78:62-519:007.52
