Precise space telerobotic system using 3-finger multisensory hand

Abstract

This paper presents the attempt to extend telerobotics to a new paradigm of "precise space telerobotics", to perform high precision tasks in-orbit. First, the paradigm of precise space telerobotics is discussed generally. The system is divided into an onboard work system capable of precise skill in an uncertain environment, and a ground system with a desktop MMI which provides a unified telemanipulation environment. A dual-loop structure consisting of dexterous task execution and remote environment recognition is proposed for the precise telerobotic architecture. Secondly, the onboard work system using a 3-finger multisensory hand is presented from the view point of precise manipulation and remote environment measuring. Finally, the telemanipulation system with the application of the desktop MMI is presented.