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Space teleoperation method

A remote operation and space technology, applied in the direction of instruments, manipulators, control/regulation systems, etc.

Active Publication Date: 2014-04-16
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In order to avoid the shortcomings of the existing technology, the present invention proposes a space robot teleoperation method, which is used to solve the problems of overcoming time delay and improving the sense of presence in the process of space robot teleoperation

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specific Embodiment

[0066] Step 1: Establish a space teleoperation verification terminal

[0067] Adopt Open Scene Graph to set up the three-dimensional model of space robot; According to robot dynamic parameters, adopt Lagrangian method to set up dynamics mathematical model, according to the actual control parameter of space robot, set up simulation model, the establishment method is known technology in the art;

[0068] In the space teleoperation system, the structure is the same as the control device of the space robot controller, and the input and output interfaces of the control device are consistent with the space robot.

[0069] Step 2: Use the hand controller to generate teleoperation commands

[0070] The force feedback device Force Dimension Delta3 is selected as the main hand, and the bilateral control algorithm adopted is bilateral PD control. The operator operates the main hand movement, and the device can obtain the three-dimensional position information P of the end of the device ...

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Abstract

The invention relates to a space teleoperation method. Safety of a space teleoperation instruction is ensured through a three-dimensional graph simulation verification method and an executive capacity verification method, real-time visual information is provided for an operator through a forecast simulation drive three-dimensional model, force sense information is provided for the operator through the bilateral control technology, and therefore the immediacy sensor of the operator is improved. According to the specific thought, a space teleoperation instruction sending end sends the instruction to a three-dimensional graph simulation verification end and a calculation capacity verification end through an information dispatching center after generating the instruction so that the instruction can be verified, and the three-dimensional graph simulation verification end not only serves as the verification end of a space teleoperation system, but also provides necessary visual information for the operator; in addition, in the generation link of the teleoperation instruction, generating feedback force is generated for the difference between the motion state of a space robot and the motion state of the existing forecast simulation model through a bilateral control algorithm, the feedback force is exerted on the operator, and therefore the operation can sense and judge the motion state of the space robot through the force sense.

Description

technical field [0001] The invention relates to a space teleoperation method, in particular to a space robot teleoperation method, which can be applied to the field of space robot or ground robot teleoperation. Background technique [0002] With the continuous development of human space activities and the establishment of space shuttles, spaceships and space stations, space robot technology has been paid more and more attention. In the future space activities, there will be a lot of space production, space processing, space assembly, space maintenance and repair work. Such a large amount of work cannot be done by astronauts alone, and space robots must be fully utilized. Therefore, the development of space robot technology can greatly reduce the cost and cost of astronauts engaged in dangerous work. Due to the limitations of the current level of robot technology and artificial intelligence, it is still very difficult to realize a robot that works completely autonomously in...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J3/00
CPCB25J3/00B25J9/1689G05B2219/40161
Inventor 黄攀峰常海涛刘正雄孟中杰
Owner NORTHWESTERN POLYTECHNICAL UNIV
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