日本航空宇宙学会誌
Online ISSN : 2424-1369
Print ISSN : 0021-4663
ISSN-L : 0021-4663
超遠距離ロボットによる宇宙構造物組立に関する実験的研究
町田 和雄平井 成興脇田 優仁岩田 敏彰荻本 健二本多見 昌弘氏家 博輝
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1998 年 46 巻 528 号 p. 46-55

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In this paper, we describe the results of the Japan-USA international joint research on “Super-long-distance space telerobotics.” An experimental study of space structure assembly by a far-distant robot was conducted. Handling a deployable truss with flexible structure and measures to cope with a low communication rate and long time delay are dealt with for space structure assembly by the telerobot. Furthermore, the technology of interoperation of space robots by internationally distributed users through a communication network of public phonelines and the Internet are studied. An intelligent telerobotic system integrated by a man-robot cooperative function with an object-handling knowledge base and an intelligent monitoring function was developed. A Trans-Pacific experiment between Electrotechnical Laboratory in Japan and Jet Propulsion Laboratory in US was achieved to demonstrate the effectiveness of the telerobotic system using a ground testbed.

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© The Japan Society for Aeronautical and Space Sciences
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