Space Robot Reliable Teleoperation Strategy under Large Time Delay

Abstract

Teleoperation characteristics under large delay environment are analyzed. A multi-strategy set for reliable teleoperation is proposed based on use reliability. The reliable teleoperation strategy is decomposed into data layer, algorithm layer, operational layer, tactics layer and system layer, including the description from data exchange under large time delay, the nested position/speed plan for space robot joints instructions sequence, the interaction between operator and tele-operate system, teleoperation mission running processes, emergency methods and teleoperation system monitoring/online maintenance. Some unresolved techniques for reliable teleoperation such as operator action inversion, operating guide and share teleoperation are analyzed and discussed. Experimental studies of space robot teleoperation under uncertain large time delay are carried out. Results show that different levels of teleoperation reliability strategies are necessary. The reliability strategy and design method for the operator will be important direction of teleoperation technology development.