Design and development of teleoperation system for space robot

Several remote control modes and a layered architecture for teleoperation of space robot (LATSR) are designed aiming at the characteristic of space robot. A teleoperation system for space robot is developed, which is comprised of five subsystems: the task planning subsystem, the master-slave control subsystem, the predictive simulation subsystem, the information processing subsystem and the ground-based validation subsystem. Experimental results verify the functionality and performance of the system and its subsystems. The flexible operation interface of the system provides simple user interface for general users, and the low-level control capability for roboticists.