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Article title THE RESULTS OF THE SPACE EXPERIMENT “KONTUR-2” DEDICATED TO THE DEVELOPMENT OF TECHNOLOGIES FOR REMOTE CONTROL OF ON-PLANET ROBOTIC OBJECTS
Authors V. A. Muliukha, V. S. Zaborovsky, M. Yu. Guk, A. V. Silinenko
Section SECTION III. THE DESIGN AND APPLICATION OF ROBOTIC AND MECHATRONIC SYSTEMS
Month, Year 09, 2017 @en
Index UDC 681.532.62
DOI
Abstract “Kontur-2” is a joint space experiment of Roskosmos, the German Aerospace Center (DLR), RTC and RSC Energia, dedicated to developing technologies of telecontrol planetary robots from the orbital spacecraft using combined communication channel with limited bandwidth for research and development of planets in the Solar System. The article describes the experimental equipment, research methods and main results. The experiment has been conducted in two stages. During the second half of 2015, the DLR and RTC conducted robotics control sessions in which Russian cosmonauts successfully operated the “Surikat” and ROBOTIK stationary robots in Germany and Russia, as well as the “Yula” mobile robot in the RTC, and anthropomorphic robot Justin in the DLR-RMC. While controlling the stationary robot “Surikat”, a sensation of the data transfer network has been used. The resistance of the handle of the master manipulator has increased with increasing delays in the communication network. The source of the feedback data during the control of robots ROBOTIK and Justin have been the torque sensors in the joints of robots. While controlling the Yula robot, a model-based feedback has been used. The positioning of the robot on the stage has been calculated according to the data from the video camera. In the second phase of work in the second half of 2016 the operator-cosmonaut controlled robot “Riabina” at a specialized three-dimensional stage in the RTC, and ergonomic experiments have been conducted to optimize the parameters of the joystick with a torque-force feedback for work in microgravity. While controlling the mobile robot “Riabina” a model-based feedback has also been used, but to obtain more accurate data about the current position of the robot the Vicon system used. As a result of the preparation and implementation of the space experiment, a control system for ground-based robots has been developed and installed onboard Russian segment of ISS. The telepresence effect has been based on the combination of tactile and visual feedback (video and 3D model).

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Keywords Kontur-2; space experiment; telecontrol; telepresence; force-feedback; mobile robot.
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