Experiments on Stewart platform teleoperation with predictor display

Qiang Wu; Zhanlin Wang; Zhifeng Wang

doi:10.1117/12.718202

30 October 2006 Experiments on Stewart platform teleoperation with predictor display

Qiang Wu, Zhanlin Wang, Zhifeng Wang

Proceedings Volume 6358, Sixth International Symposium on Instrumentation and Control Technology: Sensors, Automatic Measurement, Control, and Computer Simulation; 635846 (2006) https://doi.org/10.1117/12.718202
Event: Sixth International Symposium on Instrumentation and Control Technology, 2006, Beijing, China

Abstract

Stewart mechanism is widely used in space docking. There are two ways to operate the docking: direct-operation with astronauts in space and teleoperation with operators in ground station. Considering that direct-operation cost is pretty high, teleoperation method was chosen. To avoid the time delay in transmission, plant's virtual model was used as predictor display in operators' workstation to give operators immediate feedback. Virtual model of Stewart platform and its environment was created by Creator and driven by OpenGVS. Ethernet was used to simulate the telecommunication channel with time delay and connect operators' workstation with Stewart platform controller, so the teleoperation experimental system was completed. For the docking usually occurs in the LEO(Low Earth Orbit), GEO(Geostationary Earth Orbit) and lunar orbit, round-trip time delay was set to different values between 0 and 4s in experiments. With each time delay, one-dimensional, two-dimensional and three-dimensional motion of Stewart platform was tested without and with predictor display. Experimental data was recorded, categorized and compared, then the operation efficiency improvements by use of predictor display were studied for each time delay and dimensional motion to obtain the range of time delay and motion complexity in which predictor display can be applied well.

Citation Download Citation

Qiang Wu, Zhanlin Wang, and Zhifeng Wang "Experiments on Stewart platform teleoperation with predictor display", Proc. SPIE 6358, Sixth International Symposium on Instrumentation and Control Technology: Sensors, Automatic Measurement, Control, and Computer Simulation, 635846 (30 October 2006); https://doi.org/10.1117/12.718202

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available