Teleoperation of remote manipulator based on off-line programming techniques for industrial robots

By the use of Automation and Robotics (A and R) the human presence in space can be minimized. On the other hand the human operator has to have the opportunity to control the task execution of the A and R-systems in the orbit from ground at any time. A ground based remote control concept is presented which has been developed using in principle control techniques of industrial robots and of existing offline programming technologies. A main aspect of the concept is the ability of automatic orbital system to execute basic function autonomously. For that reason the ground control system has only to command basic functions. By use of 3-D graphic animation also a ground supervision of task execution is possible. The concept primarily developed for robots can be extended for the control of orbital vehicles and other automatic facilities. (IPK)