1998 年 46 巻 528 号 p. 46-55
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.