Model-based telerobotic control with virtual fixtures for satellite servicing tasks

Abstract

Our goal is to develop new methods for telerobotic on-orbit servicing of spacecraft under ground-based supervisory control of human operators to perform tasks in the presence of uncertainty and telemetry time delay of several seconds. We propose a new delay tolerant control methodology, using virtual fixtures, hybrid position/force control, task frame… (More)
DOI: 10.1109/ICRA.2013.6630766

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