TY - JOUR

T1 - Bilateral Control System of the Spase Robot with Large Delays

AU - Alferov, G.

AU - Efimova, P.

AU - Shymanchuk, D.

AU - Kadry, Seifedine

AU - Meqdad, M. N.

PY - 2021

Y1 - 2021

N2 - The main obstacle of the construction of efficient remote-control systems for space robots is a significant delay in transmissions of control signals to robots from the earth-based control center and receiving feedback signals. This significantly complicates the solution of control problem, especially if robot’s manipulators move objects that have mechanical constraints. Our work describes a method for bilateral control of a space robot with large delays. The uniqueness of this method lies in the special structure of the control algorithm. Bilateral control implies force feedback necessary for the interaction of a space robot with objects that have holonomic connections. We present a new mathematical model of the elements of the bilateral control system and their computer implementation using specific examples.

AB - The main obstacle of the construction of efficient remote-control systems for space robots is a significant delay in transmissions of control signals to robots from the earth-based control center and receiving feedback signals. This significantly complicates the solution of control problem, especially if robot’s manipulators move objects that have mechanical constraints. Our work describes a method for bilateral control of a space robot with large delays. The uniqueness of this method lies in the special structure of the control algorithm. Bilateral control implies force feedback necessary for the interaction of a space robot with objects that have holonomic connections. We present a new mathematical model of the elements of the bilateral control system and their computer implementation using specific examples.

UR - http://journal.uad.ac.id/index.php/TELKOMNIKA/article/view/18837

M3 - Article

VL - 19

JO - Telkomnika

JF - Telkomnika

SN - 1693-6930

IS - 6

ER -