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This paper investigates the stability of control system for a free-flying space robot which grapples a target satellite with remote teleoperation from the ground. As the robot body is not fixed in an inertial space, the manipulator motion causes the body movement and the target position changes in robot body frame. The operator finds the target motion by the delayed image data and controls the robot. Therefore the closed loop system of the remote teleoperation involves the operator and the communication equipment, which may decrease the stability. Firstly in this paper the operator performance is investigated by experiments using graphical simulation and simple operator model is produced. Using the operator model, stability condition of the closed loop system is derived as the function of conventional and generalized Jacobian matrices. The condition shows that the space robot can be controlled under long communication time delay, if the manipulator status is not close to the singular point. Finally, through experiments on the simulator it is confirmed that the space robot with remote teleoperation can capture the target.

Stability Analysis of Teleoperation System with Time Delay for Free Flying Space Robot.