Minimum Time Delay Realization for Full Earth Coverage, Full Time and Full Orbit Space Telerobot System*

The minimum time delay realization problem is first studied for the full earth coverage, full time and full orbit (3F) space telerobot system (STS) in this paper. Under the prerequisite of 3F target, a optimal communication link identification method is proposed. In this method, the shortest and connected link search algorithm module is designed to dynamically identify the optimal (shortest and connected) communication link at each moment. Among this module, a novel point-vector-sphere geometric method is designed, which works for computing the connectivity rate of the communication link. Then, tactfully adopting the principle that stepwise shortestcircuit traversal and staged connectivity judgement, optimal communication link identification is realized with higher efficiency. Subsequently, time delay dynamic minimization is guaranteed with the identification result of optimal communication link, which provides the basis and probability of well controlling the STS. In the final, a simulation system is built inline with the proposed method to shows the accuracy and effectiveness.