F.M. Kulakov
Doctor of Technical Science, Professor, Federal state budgetary institution of Science of Saint-Petersburg Institute for Informatics and Automation of the Russian Academy of Sciences (SPIIRAS), 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 instruction signals from the Earth to the local robot guidance system are suggested. Article is published in two parts. In the first part, published in previous issue of the journal, a general approach to the remote control system implementation is given. In the following second part methods of correction for forming programmed trajectory for space robots are represented. Correction necessity is conditioned by unavoidable inaccuracy of model of robot and environment, used for programmed trajectories building. Results of experimental verification of theoretical results are quoted. 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 2 Consecutive issue number 11 Pages 29-38
UDC identifier: 629.78:62-519:007.52
