航空学报 > 2021, Vol. 42 Issue (1): 523896-523896   doi: 10.7527/S1000-6893.2020.23896

复杂大时延的多主多从共享遥操作方法

李文皓1,2, 张珩1,2, 冯冠华1,2   

  1. 1. 中国科学院 力学研究所, 北京 100190;
    2. 中国科学院大学 工程科学学院, 北京 100049
  • 收稿日期:2020-02-26 修回日期:2020-03-09 发布日期:2020-04-25
  • 通讯作者: 冯冠华 E-mail:guanhuafeng_86@163.com
  • 基金资助:
    中国科学院战略性先导科技专项(XDA17030200);国家重点基础研究发展计划(2013CB733000);国家自然科学基金(11002143);载人航天领域预先研究项目(030601,030101)

Cooperative teleoperation for multi-master/multi-slave systems with large time-varying delays

LI Wenhao1,2, ZHANG Heng1,2, FENG Guanhua1,2   

  1. 1. Institute of Mechanics, Chinese Academy of Sciences, Beijing 100190, China;
    2. School of Engineering Sciences, University of Chinese Academy of Sciences, Beijing 100049, China
  • Received:2020-02-26 Revised:2020-03-09 Published:2020-04-25
  • Supported by:
    Strategic Priority Research Program of the Chinese Academy of Sciences (XDA17030200); Key Project of Chinese National Programs for Fundamental Research and Development (2013CB733000); National Natural Science Foundation of China (11002143); Advanced Research Program of China’s Manned Spaceflight (030601, 030101)

摘要: 共享遥操作结合了遥操作和多机器人协调技术,是重要的空间机器人复杂任务拓展和遥操作可靠性提升方式。首先,在综述现有共享遥操作技术的基础上,利用遥操作系统的超前预报特性,提出机器人复杂大时延的共享遥操作方法,给出了多操作员多机器人(MM/MS)复杂操作系统描述模型,设计了分时树状分组策略并给出其使用的前提条件。提出了MM/MS组间共享遥操作方法、时延信息维护规则、操作请求判断和状态信息维护方法。然后,给出了相应组内共享遥操作算法。最后,以多操作员单机器人(MM/SS)共享遥操作为例,给出了简化规则,使用以某大型空间机械臂为对象的MM/SS遥操作系统进行了数字仿真实验。实验结果表明:本文方法在20 s级不确定时延、操作端的交互时延与遥操作回路时延比为0~1等复杂条件下,均可实施连续稳定的遥操作。

关键词: 空间机器人, 不确定大时延, 多操作员多机器人(MM/MS), 共享遥操作, 分时树状分组

Abstract: Combining teleoperation and multi-robot coordination, cooperative teleoperation is an important means to expand complex space robot tasks and improve reliability for space robot teleoperation. Based on a review of cooperative teleoperation technology, this paper first proposes the cooperative teleoperation method for robots with large time-varying delays, drawing on the advanced prediction characteristics of teleoperation systems. A description model of complex Multi-Master/Multi-Slave (MM/MS) teleoperation systems is provided, together with a tree-like timesharing grouping strategy of all operators and objects with its five prerequisites presented. The cooperative teleoperation method among groups for MM/MS systems, the maintenance rules for time delays, the maintenance method for operation request judgment and operation state, and further, the corresponding cooperative teleoperation algorithm within groups for MM/MS systems are proposed respectively. Simplified rules are provided for the representative Multi-Master/Single-Slave (MM/SS) systems, and digital simulation experiments carried out based on the MM/SS teleoperation systems for ground tests of a large space manipulator. Results show that under the 20 s level large time-varying delay, continuous and stable teleoperation can be achieved when the ratio of interaction delay among operators to the teleoperation loop delay is from 0 to 1.

Key words: space robots, large time-varying delay, Multi-Master/Multi-Slave (MM/MS), cooperative teleoperation, timesharing tree-like grouping

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