CORE Metadata, citation and similar papers at core.ac.uk Provided by Institute of Transport Research:Publications Ground Verication of the Feasibility of Telepresent On-Orbit Servicing Enrico Stoll Jordi Artigas Ulrich Walter Carsten Preusche Institute of Astronautics (LRT) Philipp Kremer Technische Unversität München Gerd Hirzinger Garching, Germany Institute of Robotics and Mechatronics
[email protected] German Aerospace Center (DLR)
[email protected] Oberpfaenhofen, Germany
[email protected] [email protected] [email protected] [email protected] Jürgen Letschnik Helena Pongrac LSE Space Engineering & Operations AG Human Factors Institute Wessling, Germany University of the Bundeswehr
[email protected] Neubiberg, Germany
[email protected] Abstract In an ideal case telepresence achieves a state, where a human operator can no longer dierentiate between an interaction with a real environment or a tech- nical mediated one. This state is called transparent telepresence. The applica- bility of telepresence to on-orbit servicing (OOS), i.e. an unmanned servicing operation in space, teleoperated from ground in real time, is veried in this paper. For that purpose, a communication test environment was set up on ground, which involved the Institute of Astronautics (LRT) ground station in Garching, Germany and the ESA ground station in Redu, Belgium. Both were connected via the geostationary ESA data relay satellite ARTEMIS. Utilizing the data relay satellite, a teleoperation was accomplished, in which the human opera- tor as well as the (space) teleoperator was located on ground. The feasibility of telepresent OOS was evaluated, using an OOS test bed in the Institute of Mechatronics and Robotics at the German Aerospace Center (DLR).