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ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2021, Vol. 42 ›› Issue (1): 523896-523896.doi: 10.7527/S1000-6893.2020.23896

• Dissertation • Previous Articles     Next Articles

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)

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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