The ground teleoperation platform of satellite on-orbit self-serving system is construe— ted in the background of space robot on-orbit serving．W hen a malfunction of the satellite occurs， the teleoperator uses a space mouse and a data—glove with force feedback to control the arm／hand system fixed on the satellite body to remove the malfunction to implement the satellite selfserving． For the large time delay of the communication between ground and space，3D graphic predictive simulation is employed to eliminate the impact of the time delay，and the virtual fixture is utilized tO improve the performance and safety of the telemanipulation． Under the condition of large and variable time delay(about 7 s)，the task of deploying a folded solar panel，a typical onorbit serving of the satellite，is accomplished by operators in W uhan through teleoperating the four-degree freedom robot arm／hand system in Harbin．The experimental results show the effec— tiveness of the proposed method

3D图形预测仿真及虚拟夹具的大时延遥操作技术.pdf

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