Development of a System of Supervisory Control Over the Internet of the Robotic Manipulator in the Russian Segment of ISS (Kontur (Contour)) - 01.18.17
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
Eye, Robot. Controlling a remotely located robotic arm via the internet from orbit will optimize the capability of performing tasks on the surface of another planet. KONTUR tested the capability of using a robotic camera transmitting images by internet to provide visual guidance for remote control of a ground based robotic arm. Tests with a newly designed, 4-channel architecture provided robust communication that handled typical anomalies such as time delay of signals, data losses and vibration. An important feature was the ability to identify unstable conditions, which were then isolated from the active system and guided by a passive controller to ensure stability in the system. 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
The KONTUR tests with the newly designed 4-channel architecture provided examples of a robust communication that was able to respond to typical anomalies like signal delays, data losses and jitters when providing commands to a ground based robotic arm. One of the features was the ability to identify instability conditions that were then isolated from the active system and therefore provided a passive controller which insures stability in the system.^ 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