Experimental teleoperation of a dual-arm manipulator mounted on a flexible structure in space

Abstract

Abstmct- This paper describes an experimental system for teleoperation of a dual-arm manipulator mounted on a flexible base. The manipulators and the base are arranged in the horizontal plane so that gravity forces can be neglected and a long-reach manipulator for space application is envisioned. Based on the Reaction Null Space concept developed previously, we propose several strategies for telecontrol of the dual-arm manipulator and verify their perfomance experimentally.