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

ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2013, Vol. 34 ›› Issue (6): 1436-1444.doi: 10.7527/S1000-6893.2013.0240

• Material Engineering and Mechanical Manufacturing • Previous Articles Next Articles

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)

Abstract

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

CLC Number:

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

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