Abstract
The basic technology of the tele-robotics system for extra-vehicular activity has been studied. The development started by studying a lightweight, small-size and low power-consuming actuator workable in a vacuum condition. Based on this actuator, a manipulator the size of which was as the hand of human being was developed. Then, a master manipulator was designed to operate the slave manipulator. Next, a real-time, graphic simulator was introduced into the man-machine loop of the master slave manipulator system to make task planning easier and to reduce the problem caused by time delay originating from the long distance of the communication link. To integrate these components and to research the architecture of the tele-robotics system, a multi-manipulator control network system was developed. A process for these development is detailed in this paper. The future prospect was also briefly described.
