Study on Super Long Distance Space Telerobotics

Telerobotics research for Super Long Distance has been underway between MITI of Japan and NASA JPL of United States. Foe this telerobotics, the limited amount of data transfer,communication delay and the uncertainty of robot environment will be the major issues. To overcome these problems, a telerobotic system, with a knowledge base for object handling, an environment model and a hybrid compliance/force control, has been constructed. With this system, a truss structure in Electrotechnical Lab. in Japan was successfully deployed from JPL in United States. The experimental set-up with built-in software and test results are described in this paper.