复杂大时延的多主多从共享遥操作方法

doi:10.7527/S1000-6893.2020.23896

Abstract

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

CLC Number:

V476.5

LI Wenhao, ZHANG Heng, FENG Guanhua. Cooperative teleoperation for multi-master/multi-slave systems with large time-varying delays[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(1): 523896-523896.

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

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