Truss Deployment by ETS-VII Robot Arm Using Force Control

Experiment for teleoperation of a truss structure on engineering test satellite no 7 (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 space structure.This paper reports the results of space experiment for truss operation tasks by ETS-VII robot using force accomodation control.Since the robot arm applies the commanded force and torque against to the object,the force accomodation 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 truss operation of deplyement and stowage