Space teleoperation method dynamically assisted by speed type virtual force feedback

A virtual force and velocity technology, applied in the direction of instruments, adaptive control, control/regulation systems, etc., can solve the problems of specific graphics, limited auxiliary operation ability, and insufficient use of information.

Inactive Publication Date: 2013-07-17
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

The current virtual force feedback exists completely independent of the operating object, and the graphics are specific. It does not make full use of the information at the end of the operating object, and can only rely on the pre-constructed virtual force feedback area to generate corresponding auxiliary information.
Especially in uncertain environments such as communication delays, the current virtual force feedback method has limited auxiliary operation capabilities

Method used

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  • Space teleoperation method dynamically assisted by speed type virtual force feedback
  • Space teleoperation method dynamically assisted by speed type virtual force feedback
  • Space teleoperation method dynamically assisted by speed type virtual force feedback

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Embodiment Construction

[0034] The present invention will now be further described in conjunction with the embodiments and accompanying drawings:

[0035] The implementation steps of the embodiment of the present invention are as follows:

[0036] 1. Constructing a space robot and a space operating environment as a simulation environment: According to the D-H parameters shown in Table 1, a 6-DOF space robot graphic model is constructed based on C++ using the three-dimensional graphic interface software OSG; based on C++, using the three-dimensional graphic interface software OSG , construct a square with a side length of 1000mm as the satellite body and a pair of solar panels as the operating environment of the space robot.

[0037] Table 1 D-H parameters of the six-degree-of-freedom space robot

[0038] i α i-1 a i-1 d i-1 θ i 1 0 0 177 90 2 -90 0 0 90 3 0 985 0 0 4 90 0 0 90 5 -90 0 -765 0 6 90 0 0 0 7 0 0 382 0

[0039...

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Abstract

The invention relates to a space teleoperation method dynamically assisted by speed type virtual force feedback. The method comprises the steps of establishing a simulation model of a space teleoperation object and a space environment, constructing an area representing the speed type virtual force feedback, and dynamically changing the size of the shape and the position of the speed type virtual force feedback area according to position motion information at the tail end of the teleoperation object, that is, the force feedback area changes with the position motion information in real time, and the center of mass is attached to the tail end of the teleoperation object in real time. According to visual information provided by the speed type virtual force feedback, a graphic collision detection method and an established virtual force field are used for providing virtual force feedback information for space robots, so that the influence on teleoperation caused by a communication delay is reduced, unnecessary collisions between the tail end of the teleoperation object and the space environment are prevented, and space teleoperation tasks can be finished quickly and safely.

Description

technical field [0001] The invention belongs to the field of space robots and the field of remote operation, and in particular relates to a space teleoperation method dynamically assisted by speed-type virtual force feedback. The feedback force generated by speed-type virtual force feedback is applied to the teleoperation of space robots. Provide virtual force feedback information accurately to realize remote operation assistance for space robots. Background technique [0002] With the continuous deepening of human space exploration, it is a space development trend to use space robots to complete various space tasks. For teleoperation with the participation of artificial intelligence, the operator sends control commands to the teleoperation object through the interactive device. Due to the existence of time delay, the delayed visual and force feedback information cannot provide the operator with a real-time sense of presence, which is easy to mislead the operation The opera...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 黄攀峰丁炳源刘正雄孟中杰
Owner NORTHWESTERN POLYTECHNICAL UNIV
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