This paper describes a ground experiment system for space robots based on an improved version of predictive bilateral control and the results of simulated space telemanipulation experiments. The predictive bilateral control provides both the predictive and virtual contact forces/torque along six degrees of freedom by a force reflected master-arm. The virtual contact forces are produced by the collision with a virtual guide model to move the slave-arm to a desired position quickly and safely. Ground simulation models can be calibrated by means of visual sensing using target marks. The simulator for previewing is designed to be reconfigurable by modularizing the basic functions. The system executes tasks including manual operations according to a program written in an interpreter language for interactive operations. Coupling experiments using ETS-VII Antenna Assembling Mechanism (AAM) and peg-in-hole tests were carried out to evaluate the system's effectiveness and the results obtained demonstrate that it is in fact effective. Currently, we are improving the system for the use in actual ETS-VII AAM experiments in space.

This paper describes a telerobot system and its application to space antenna assembly experiments. In this system, the operator utilizes an Integrated Teleoperation Console to operate multiple arms and cameras from a remote site, employing such system supports as visual guidance, ForcelTorque sensing, interactive user interface, and real-time graphic kzsk simulation. Visual guidance is semi-autonomous in that the robot itself is also capable of interpreting visual information and grasping target objects. In the study, assemblyldisassembly experiments are carried out on an space antenna consisting of a center dish surrounded by eight separate outer antenna segments. The accuracy of visual guidance positioning is evaluated experimentally. Results prove the effectiveness of both the telerobot experiment system and the space antenna structure. investigate this system's potential effectiveness for use in space. The antenna used was a version with improved assembly reliability. The positioning accuracy of the semi- autonomous visual guidance system was first evaluated experimentally, and then multiple segments were assembled and disassembled. In the segment grasping stage of the assembly experiments, the segment holder position was shifted to verify visual guidance. Positioning shifts were intentionally applied to robot motion commands in the assembly stage of the experiments to simulate actual robot motion in space. In spite of these shifts, accurate coupling was successfully achieved and the effectiveness of the system demonstrated.