Requirements for a servicing manipulator teleoperator system were derived using two mission model scenarios. The first scenario introduces the problem of communication time delays within the overall manipulator teleoperator control system, associated with the human operator being located on the ground while controlling a manipulator on a free-flying servicing vehicle, servicing a payload on a platform or satellite docked to it, in low Earth orbit. The second scenario has the human operator located on the shuttle aft deck controlling a manipulator servicing a payload in the cargo area. This scenario is intended to demonstrate the operational capability of the service manipulator system using the Robotic Servicing Experiment. A ground based supervisor is also assumed for this mission, permitting a teleoperation-control experiment with time delay, to be performed as required. It is concluded that true teleoperation and control of a remote manipulator cannot be readily achieved in the presence of a communications time delay.
Teleoperation and Control Study
1986
556 pages
Report
No indication
English
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