速度型虚拟夹具辅助空间遥操作技术研究

doi:10.7527/S1000-6893.2013.0240

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速度型虚拟夹具辅助空间遥操作技术研究

丁炳源^1,2, 黄攀峰^1,2, 刘正雄^1,2, 常海涛^1,2

1. 西北工业大学航天学院智能机器人研究中心, 陕西西安 710072;
2. 西北工业大学航天飞行动力学技术重点实验室, 陕西西安 710072

收稿日期:2012-08-15 修回日期:2012-11-09 出版日期:2013-06-25 发布日期:2012-11-20
通讯作者: 黄攀峰, Tel.: 029-88460366 E-mail: pfhuang@nwpu.edu.cn E-mail:pfhuang@nwpu.edu.cn
作者简介:丁炳源男, 硕士研究生。主要研究方向: 空间遥操作, 导航制导与控制。 Tel: 029-88460366 E-mail: dingby123@126.com;黄攀峰男, 博士, 教授, 博士生导师。主要研究方向: 空间机器人学, 空间遥操作, 导航制导与控制。 Tel: 029-88460366 E-mail: pfhuang@nwpu.edu.cn
基金资助:
国家自然科学基金(60805034,61005062);航天飞行动力学重点实验室开放基金(2012afdl022)

Research on Space Teleoperation Technology Assisted with Velocity-based Virtual Fixture

DING Bingyuan^1,2, HUANG Panfeng^1,2, LIU Zhengxiong^1,2, CHANG Haitao^1,2

1. Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China;
2. Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an 710072, China

Received:2012-08-15 Revised:2012-11-09 Online:2013-06-25 Published:2012-11-20
Contact: 10.7527/S1000-6893.2013.0240 E-mail:pfhuang@nwpu.edu.cn
Supported by:
National Natural Science Foundation of China(60805034,61005062); Open Research Foundation of Science and Technology on Aerospace Flight Dynamics Laboratory(2012afdl022)

摘要/Abstract

摘要：

天地间通讯存在大时延是影响空间遥操作性能的主要问题。传统虚拟夹具应用于空间遥操作中,已获得一定的操作性能提升,但不具备动态的预测能力,对于克服时延带来的操作错觉等能力的提升有很大限制。本文提出一种速度型虚拟夹具作用于操作末端,利用操作末端的速度信息,实时改变虚拟夹具的形状,对操作末端在3 s时延后的运动进行动态预测。利用方向包围盒(OBB)方法进行图形碰撞检测,能在3 s内检测到即将到来的碰撞,按照一定规则产生相应的阻力反馈给操作者,以克服时延引起的误操作,提高遥操作性能。经过多组目标平台的近距离停靠实验,验证了该方法的有效性。

关键词: 空间应用, 速度型虚拟夹具, 碰撞检测, 动态预测, 遥操作

Abstract:

The presence of long time delay during space-ground communication has a principal influence on teleoperation performance. Traditional virtual fixtures used in space teleoperation definitely improve the performance, but they do not have the ability of dynamic prediction, which limits their use in overcoming the illusions generated by time delay. A velocity-based virtual fixture seated in the end effector of the operated object is introduced which can change its size in time to predict the 3 s-delay translation dynamically with the velocity of the end effector. With the oriented bounding box (OBB) method, it can detect the forthcoming collision in 3 s and generate the corresponding resistance feedback to the operator to overcome the operation errors caused by time delay and improve the teleoperation performance. The effectiveness of the proposed method is demonstrated through several close-range dock to target platform experiments.

Key words: space applications, velocity-based virtual fixture, collision detection, dynamic prediction, teleoperation

中图分类号:

丁炳源, 黄攀峰, 刘正雄, 常海涛. 速度型虚拟夹具辅助空间遥操作技术研究[J]. 航空学报, 2013, 34(6): 1436-1444.

DING Bingyuan, HUANG Panfeng, LIU Zhengxiong, CHANG Haitao. Research on Space Teleoperation Technology Assisted with Velocity-based Virtual Fixture[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2013, 34(6): 1436-1444.

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E-mail：hkxb@buaa.edu.cn

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

速度型虚拟夹具辅助空间遥操作技术研究

Research on Space Teleoperation Technology Assisted with Velocity-based Virtual Fixture

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