Development of a System of Supervisory Control Over the Internet of the Robotic Manipulator in the Russian Segment of ISS (Kontur (Contour)) - 07.14.16
Development of control methods of the robotic arm via Internet with regard to time delays to study the remote objects control capability. Science Results for Everyone
Information Pending Experiment Details
Vladimir Sergeevich Zaborovski, Central Research and Development Institute for Robotics and Technical Cybernetics (RTC), Russia
V. S. Zaborovsky, Russia
Sponsoring Space Agency
Russian Federal Space Agency (Roscosmos)
ISS Expedition Duration
October 2008 - September 2011
Control of the robotic arm on the International Space Station via Internet. Development of the remote visual control procedure of the ISS surface using the robotic TV camera.
Operational Requirements and Protocols
The equipment operates in the visual presence modes (the ground remote manual control in real time). During SE sessions by means of specially developed mathematical software the robotic arm control is provided via the panel of the ground antenna station in Weilheim (Germany) from work stations located at TsNII RTK (St. Petersburg) and RSC Energia (Korolev) using Internet. During the experiment the following is provided: acquisition of service and video data on the manipulator operation. On the external hinge of the manipulator there are three video cameras (stereo system and video camera for environmental survey) the data from which is transmitted to the ground. Images from TV cameras mounted on the manipulator, which allow to trace the experiment progress in the passive mode, are transferred via Internet. The service information to provide the experiment comes through nominal telemetry channels.
Decadal Survey Recommendations
Information Pending^ back to top
Experimental data with results of the robotic arm control sessions via Internet with visual control using a TV camera for the robotic arm movements; the results are transmitted via Internet and verified for their compliance with design ones.^ back to top
Artigas J, Balachandran R, Riecke C, Stelzer M, Weber B, Ryu J, Albu-Schaeffer A. KONTUR-2: Force-feedback teleoperation from the international space station. 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden; 2016 May 16-21 1166-1173.
Ground Based Results Publications
Energia - Science Research on the ISS Russian Segment