Teleoperated Cyber-Physical System for Cable-Driven Hyper-Redundant Flexible Manipulation

Increased space missions rely on ground-based cyber-physical systems (CPS) to facilitate remote interventions during satellite anomalies. When solar panel deployment failures occur, integrating real-time sensing, computation, and precise robotic control becomes essential for recovery operations. To this end, this paper introduces a cable-driven hyper-redundant flexible manipulator (CHFM) for teleoperated intervention through ground control. To achieve continuous configuration control of the CHFM in constrained environments, we propose a novel planning approach to facilitate end-arm synchronization. Based on this planning strategy, a comprehensive teleoperation CPS architecture is developed, integrating operating, computing and processing, visualization, safety detection, and network modules. Experimental results demonstrate the system’s ability to navigate through narrow satellite panel slits, verifying both the system’s operational reliability and the effectiveness of the proposed planning method. The results indicate significant improvements in the accuracy of task completion for complex remote manipulation.