Application of hybrid compliance/force control to super long distance teleoperation

Japan-USA international joint research on 'Distributed space Telerobotics' has been undertaken in a scheme of AIST Specific International Joint Research Projects [1]. The space platform assembly experiment with an intelligent telerobotics system was demonstrated between the Electrotechnical Laboratory and the Jet Propulsion Laboratory. To overcome various telerobotics problems, especially the uncertainty of task environment, the robot manipulator at the remote site employed a compliance control and a force control system is available. This paper describes how the hybrid compliance/force control, developed by Kawasaki Heavy Industries, Ltd., is applied to assemble the truss structure model and shows the results of the experiments.