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Space manipulator teleoperation instruction safety detection and correction method

A safety detection and manipulator technology, applied in manipulators, program control manipulators, manufacturing tools, etc., can solve problems such as very obvious operator influence

Active Publication Date: 2013-04-24
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Especially when the loop delay is large, the impact on the operator is very obvious

Method used

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  • Space manipulator teleoperation instruction safety detection and correction method
  • Space manipulator teleoperation instruction safety detection and correction method
  • Space manipulator teleoperation instruction safety detection and correction method

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Embodiment Construction

[0034] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0035] In the teleoperation system, the movement of the manipulator is driven by sending commands. Among them, there are two kinds of instructions, one is pose instruction, which contains 3 position data and 3 attitude data, and the other is joint angle instruction, which contains 6 joint angle data. The present invention detects the command at the current moment and the command at the previous moment at the sending end in Cartesian space and joint space velocity respectively. If the velocity exceeds the limited threshold, it will be detected again after clipping in Cartesian space until it meets the requirements to generate a safe The command is sent to the remote manipulator.

[0036] Step 1: Calculate the Cartesian space position precession and attitude precession

[0037] First get the command at the current moment, if it is a pose command (X t ,Y t Z t ...

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Abstract

The invention relates to a space manipulator teleoperation instruction safety detection and correction method. The method includes: performing speed detection for instructions of an instruction sending end in a Cartesian space and a joint space, and if the speed exceeds a limiting threshold value, performing amplitude limiting in the Cartesian space prior to performing ultralimit detection and amplitude limiting until requirements are met. By means of amplitude limiting, vibration caused by movement of a manipulator can be reduced, positioning precision of the manipulator can be guaranteed, and consistency of a planned path and the Cartesian space is kept. The space manipulator is a free-flying robot, and position and pose of the space manipulator are opposite to a base mounting coordinate system.

Description

technical field [0001] The invention belongs to the field of manipulator control, and in particular relates to a method for detecting and correcting a space manipulator remote operation instruction speed exceeding the limit. Background technique [0002] In the future space activities, there will be a lot of space production, space processing, space assembly, space maintenance and repair work. Such a large amount of work cannot be done by astronauts alone, and space robots must be fully utilized. In the process of teleoperating the remote manipulator, the movement of the remote manipulator is driven by commands sent by the main hand. The main problems in space manipulator teleoperation are time delay and limited data transmission bandwidth in space and ground communication. The greatest impact of time delay on space robots is to make the closed-loop feedback control system of continuous teleoperation unstable. At the same time, in the presence of time delay, even if the o...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/16B25J19/00
Inventor 黄攀峰齐庆玺刘正雄孟中杰
Owner NORTHWESTERN POLYTECHNICAL UNIV
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