Free-flying space robotic devices, in which manipulators are mounted on a thruster-equipped spacecraft, will assist in the construction, repair and maintenance of satellites and future space stations. Operation in a free-floating mode, in which spacecraft thrusters are turned off, increases a system’s life. The teleoperation of free-floating systems is complicated due to the dynamic coupling be...

One of the key challenges in current bilateral teleoperation systems is the high data packet rate necessary for the transmission of the sampled command and sensor data. We present a novel, psychophysically motivated approach to reduce the packet rate based on a deadband transmission strategy. Data packets are only sent if the sampled signal changes more than a given threshold value. The thresho...

The controller design for a bilateral teleoperation system involves trade-offs between performance and robust stability. Beyond simple intuition, little is known how performance and robust stability trade off. This paper shows that it is possible to achieve robust stability and nominal performance of a bilateral teleoperation system by using a four-channel control architecture [1, 2]. The contr...

This paper presents a novel teleoperation controller for a nonlinear master–slave robotic system with constant time delay in communication channel. The proposed controller enables the teleoperation system to compensate human and environmental disturbances, while achieving master and slave position coordination in both free motion and contact situation. The current work basically extends the pas...

Teleoperation is the performance of a task or action from a distance. Although, in this sense, teleoperation can be applied to any operation performed from a distance, the term is most commonly associated with robotics and mobile robots and indicates the operation of such machines from a place far from the location of the machine [1]. Several factors are involved in a teleoperated robotic syste...

In real-time Internet based teleoperation systems, the Internet is the communication medium through which the operator sends control commands to the robot and receives feedback. Teleoperation systems support robotic control commands, video, audio, haptic feedback, and other sensory information, which are called supermedia. Traditional transport services of the Internet may not be able to meet t...

Robot teleoperation systems have been limited in their utility due to the need for operator motion, lack of portability and limitation to singular input modalities. In this article, the design and construction of a dual-mode human–machine interface system for robot teleoperation addressing all these issues is presented. The interface is capable of directing robotic devices in response to tongue...

Teleoperation, in which humans and robots work together to improve performance, is growing explosively. However, the performance of teleoperation not yet excellent. Master–slave systems with different kinematics workspaces need space-transformation control techniques. These techniques cause psychological fatigue an operator poor manipulation skills. In this study, we propose intuitive master de...

Operating a robot in the micro/nano-world presents challenges not found in the macro-world. Due to the small dimensions, the operator has no direct access to the objects and must assemble them by teleoperation. To allow a good manipulability, we propose a mixed teleoperation system which is composed of both direct and taskoriented teleoperation modes. The operator is provided with a set of visu...

In our previous work, several system elements for space teleoperation were introduced: a Singularity Consistent (SC) teleoperation system, a mixed force and motion commands based space teleoperation system, and a 6-DOF haptic interface. In this paper, we introduce an advanced space teleoperation system which includes all the above elements. As a result, the system realizes safety against the si...