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月球车地面遥操作技术发展现状与未来展望

李卫华1,郭军龙1,丁亮2,高海波3   

  1. 1. 哈尔滨工业大学(威海)
    2. 哈尔滨工业大学机器人技术与系统国家重点实验室
    3. 哈尔滨工业大学
  • 收稿日期:2021-09-07 修回日期:2022-02-17 出版日期:2022-02-28 发布日期:2022-02-28
  • 通讯作者: 李卫华
  • 基金资助:
    国家自然科学基金;中国博士后科学基金;机器人技术与系统国家重点实验室自主课题

Review and Prospect of Ground Teleoperation Technology for Lunar Rover

  • Received:2021-09-07 Revised:2022-02-17 Online:2022-02-28 Published:2022-02-28
  • Contact: Weihua LI

摘要: 针对月球车在地球-月球大通信时延、月表复杂环境下的地面遥操作技术进行了分析,回顾了前苏联、美国、中国已成功发射月球车的控制技术或者远程控制技术现状。为了解决当前月球车采用的“移动-等待”模式低效率难点,结合地面轮式移动机械臂在运动学约束、小时延、多自由度映射等方面的技术现状,从通信时延及时延补偿策略、月表松软月壤带来的纵向/侧向滑动、机器人遥操作理论等三个方面,对月球车进行连续遥操作所面临的关键技术进行了梳理。最后,对未来月球探测工程中的月球车地面遥操作技术发展方向进行了展望。

关键词: 月球车, 地面遥操作, 大时延, 松软地形, 动力学

Abstract: This paper analyzes the ground teleoperation technology of the Lunar rover under the conditions of big Earth-Moon communication time delay and complex lunar surface, and reviews the current situation and progress of control technology or remote control technology for the Lunar rovers successfully launched by the former Soviet Union, the United States and China. In order to overcome the difficulty of low efficiency induced by the ‘move-wait’ teleoperation mode, combined with the existed technologies of ground wheeled mobile manipulator in kinematic constraints, small time-delay and multi degree of freedom mapping, the key technologies for the continuous teleoperation technology of Lunar rover are summarized from three aspects including the communication time-delay and time-delay compensation strategy, the longitudinal / lateral sliding caused by the soft Lunar soil on the Lunar surface and the robot teleoperation theory. Finally, the ground teleoperation technology of the Lunar rover in the future Lunar exploration project is prospected.

Key words: lunar rover, ground teleoperation, big time-delay, soft terrain, dynamics

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