Experiment for Deployable Truss Operation Using Force Accommodation Control on Engineering Test Satellite-VII

Abstract

Experiment for teleoperation of a truss structure on Engineering test satellite-VII (ETS-VII) is performed as a part of space robotics missions. Truss is effective for a space structure because of its lightness and compactness. Recently, a space robot operated from the ground is expected to construct a space structure. This paper reports the results of space experiment for truss operation tasks by ETS-VII robot arm using force accommodation control. Since the robot arm applies the commanded force and torque against to the object, the force accommodation control has merits in teleoperation with time delay, such that no trajectory information is required, and excessive force and torque cannot be caused. It is especially effective in deployable truss operation.