Teleoperation task planning and simulation method for mechanical arm/dexterous hand system

Abstract

The invention discloses a teleoperation task planning and a simulation method for a mechanical arm / dexterous hand system, belonging to the teleoperation technical category in the aerospace field. The invention provides the teleoperation task planning and simulation method for a robot, in combination with the advantages of work study theories and the Petri net technology, for solving the problems of difficult task planning of the complex teleoperation, difficultly guaranteed task implementation quality and efficiency, incapability of operation of nonprofessionals, and the like. The method consists of the five parts of a method for analyzing work, actions and release loads, a method for dividing tasks into three stages, a task six-tuple structural description method, a double-layer planning method of teleoperation task simulation and a task layer simulation planning optimization method. The invention provides the effective way and method for solving the problem of safe and precise control of the complex teleoperation to a certain degree.

Description

technical field [0001] The invention relates to a robot remote operation task planning and simulation method, which belongs to the technical field of remote operation in the aerospace field. Background technique [0002] The remote operating system can expand human perception and operation capabilities, and replace humans to complete tasks in dangerous, harsh and extreme environments. Teleoperation tasks have the typical characteristics of being complex and diverse, and require high action accuracy. A reasonable task planning strategy is the basis for the smooth execution of teleoperation tasks, which directly affects whether the teleoperation tasks can be completed accurately and efficiently; the application of simulation technology is The staff establishes an interactive window between the virtual environment and the real world. At present, the traditional teleoperation operation mainly generates motion commands through human-computer interaction between professional oper...

AI Technical Summary

Problems solved by technology

[0003] Manual teleoperation task planning has the following significant deficiencies: First, operators have different operating skills and proficiency levels, resulting in inconsistent task planning standards and instability in task execution quality

The entire operation process is subtle and cumbersome, requiring the operator to invest a lot of attention resources for a long time

With the accumulation of fatigue, the workload of the operator is gradually exceeded, the work performance decreases, the work ability and task quality decrease, the operator's attention is distracted, the operation speed slows down, and the possibility of misoperation and operation accidents increases.

Third, when the operator is a non-professional, facing the teleoperation system that needs professional training and practice to master, it is often impossible to complete the mission planning and teleoperation tasks

[0004] Due to the special environment and special tasks of the teleoperation system of space robots, it is required to perform the teleoperation task accurately and efficiently, and to ensure the safety of the teleoperation system. However, there are many shortcomings in the traditional teleoperation system task planning method. Determining factors and potential safety hazards cannot meet the needs well

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