A Two-Person Shared Teleoperation Method with Multi-Advantage Factors

Abstract

The invention discloses a multi-advantage factor double-person shared remote operation method, which can effectively reduce the operation error caused by the operator's muscle tremor, operational proficiency, and psychological factors through the double-person shared control method, and the control accuracy is more accurate and reliable. Sex is higher. Secondly, by designing multiple advantageous factors, the present invention can freely adjust the transparency and motion followability of the operating system, and the transparency and motion tracking effects under the optimal conditions are better than the traditional two-person shared control operation. Finally, the present invention provides system stability conditions through Raisbeck passive stability criteria, and then calculates system parameters from the stability conditions to ensure absolute stability of the system.

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 spacecraft has been greatly affected. Therefore, using space robots to repair spacecraft has become a future aerospace One of the trends of technological development, but because the intelligence of the space robot itself is not enough, the use of teleoperation technology, that is, the maintenance of the 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 ...

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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