3D图形预测仿真及虚拟夹具的大时延遥操作技术

以空间机器人在轨服务为背景,建立了卫星在轨自维护系统的地面遥操作平台.远端由安装在卫星本体上的一个四自由度机器人和灵巧手的臂/手系统组成,当卫星出现故障时,遥操作者通过空间鼠标和力反馈数据手套分别控制远端的臂/手系统排除卫星故障,实现卫星的自我维护.对于地面-太空之间通讯的大时延,利用3D图形预测仿真技术克服时延的影响,并采用虚拟夹具法提高遥操作系统的安全性和操作性能.在大时延及变时延(约7 s)的条件下,实现了武汉遥操作哈尔滨的自维护机器人臂/手系统,成功地完成了打开太阳能帆板的典型卫星在轨维护任务,验证了该方法的有效性,为今后实际空间机器人的地面遥操作提供了经验.

Teleoperation with Large Time Delay Based on 3D Graphic Predictive Simulation and Virtual Fixture

The ground teleoperation platform of satellite on-orbit self-serving system is constructed in the background of space robot on-orbit serving.When 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 self-serving.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 on-orbit serving of the satellite,is accomplished by operators in Wuhan through teleoperating the four-degree freedom robot arm/hand system in Harbin.The experimental results show the effectiveness of the proposed method.