复杂大时延的多主多从共享遥操作方法

李文皓; 张珩; 冯冠华

doi:10.7527/S1000-6893.2020.23896

航空学报 >

2021 , Vol. 42 >Issue 1: 523896 - 523896

DOI: https://doi.org/10.7527/S1000-6893.2020.23896

论文

复杂大时延的多主多从共享遥操作方法

李文皓 ,
张珩 ,
冯冠华

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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

网络出版日期: 2020-04-25

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）

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

LI Wenhao ,
ZHANG Heng ,
FENG Guanhua

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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 date: 2020-02-26

Revised date: 2020-03-09

Online 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)

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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

本文引用格式

李文皓 , 张珩 , 冯冠华 . 复杂大时延的多主多从共享遥操作方法[J]. 航空学报, 2021 , 42(1) : 523896 -523896 . DOI: 10.7527/S1000-6893.2020.23896

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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