Experimental Study for Tele-Operation of Dual-Manipulator-Based On-Orbit Servicing

Abstract

We conducted ground experiments simulated on-orbit servicing, for example, construction and maintenance of large space structures as well as capture and recovery of damaged satellites using autonomous space robots; it is necessary to research on floating massive payload tele-operation through both analytical and experimental approaches. This ground experiment system developed in the paper is useful to study strategies and approaches to capture damaged satellites and operation of floating massive payload in space. We explain in detail the experimental results of operation such as capturing the damaged satellite and operating the floating massive payload. In addition, we experimentally investigate usefulness of contact/push-based control for a rotational target. Next, we introduce a random time lag in communication on the ground experimental system. Then, we discuss the strategy of the tele-operation including the random time lag in communication.