Multi-dominant-factor remote operation method shared by two persons

Abstract

The invention discloses a multi-dominant-factor remote operation method shared by two persons. According to the method, operation errors caused by muscle shaking, operation proficiency and mental factors of operators can be effectively reduced, and the control precision and the reliability are higher; the multiple dominant factors can be used to adjust the transparency and movement following performance of the operation system freely according to tasks, and the transparency and movement following performance in the optimal state are higher than those of traditional remote operation shared by two persons; and the system stability condition is given according to Raisbeck passive stabilization standard, parameters of the system are calculated via the stability condition, and it is ensured that the system is stable absolutely.

Description

technical field [0001] The invention relates to a multi-advantage factor two-person shared teleoperation system, which belongs to the field of space teleoperation. Background technique [0002] With the development of space technology, more and more spacecraft are sent into space. Due to the existence of space junk, the life of the spacecraft has been greatly affected. Therefore, the use of space robots to repair spacecraft has become a future aerospace technology. One of the trends of technological development, but because the intelligence of space robots is not enough, the key to solve the problem is to use teleoperation technology, that is, to maintain the spacecraft under human operation. [0003] The current teleoperation method uses a single person to operate a single space robot. Although this design method can meet the requirements of the current simple task teleoperation, but due to the instability of human operation, such as jitter, or changes in control impedance ...

AI Technical Summary

Problems solved by technology

[0002] With the development of space technology, more and more spacecraft are sent into space. Due to the existence of space junk, the life of spacecraft has been greatly affected. Therefore, using space robots to repair spacecraft has become a future aerospace One of the trends in technological development, but due to the lack of intelligence of the space robot itself, the use of teleoperation technology, that is, the maintenance of spacecraft under human operation has become the key to solving the problem

[0003] The current teleoperation method uses a single person to operate a single space robot. Although this design method can meet the requirements of the current simple task teleoperation, but due to the instability of human operation, such as jitter, or changes in control impedance due to tension, This will greatly affect the operation quality of the teleoperation, so the present invention proposes a multi-advantage factor two-person shared teleoperation method, that is, two operators share the control of a single space robot, thereby improving the stability and reliability of the operation , and by adjusting multiple dominant factors to meet different control requirements

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