Multi-functional and one-stop type remote control design, the simulation system and method thereof

A technology of remote operation control and simulation system, which is applied in the field of multi-functional one-stop remote operation control design and simulation system, and can solve the problems of low operation accuracy of the end of a remote manipulator, inability to connect the two, and inconvenient operation methods.

Active Publication Date: 2017-03-22
BEIJING INST OF CONTROL ENG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

These systems have simple functions and inconvenient operation methods, and are mainly controlled by mouse or joystick
There are not many adjustable parameters. There is a follow-up relationship between the handle and the remote mechanical arm. The range of motion of the ma

Method used

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  • Multi-functional and one-stop type remote control design, the simulation system and method thereof
  • Multi-functional and one-stop type remote control design, the simulation system and method thereof
  • Multi-functional and one-stop type remote control design, the simulation system and method thereof

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Embodiment Construction

[0043] Such as figure 1 As shown, the multifunctional teleoperation control system uses the bus information architecture to organize the various parts of the teleoperation control system into a network, including the following components: the first teleoperation console 1; the second teleoperation console 2, the system Main console 3, high-dimensional dynamics simulation server 4, virtual reality 3D simulation and video capture server 5, rigid manipulator 6, first joint control computer 7, flexible manipulator 8, second joint control computer 9, vision system 10. Ring screen 11. The flow of information exchanged between devices through the bus is such as figure 2 Shown.

[0044] The system master console 3 is the maintenance and control platform of the entire system, which can provide monitoring, maintenance, and emergency stop operations for the entire system.

[0045] The first teleoperation console 1 and the second teleoperation console 2 achieve two functions: one is to take ...

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Abstract

The invention relates to a multi-functional and one-stop type remote control design, the simulation system and method thereof wherein the system comprises: a first remote operation control station, a second remote operation control station, a system general control station, a high-dimensional dynamic simulation server, a rigid mechanical arm, a joint control computer, a virtual reality 3D simulation and video acquisition server, a flexible mechanical arm, another joint control computer, a visual system and a circular screen. The invention can work in four modes: mathematic simulation tests based on manual simulation manual remote control, simulation tests based on the manual remote operation control of mechanical arms on real ground, space robot capturing the inserted collision dynamics and control tests, and performance verification of flexible mechanical arms and the flexible parameter identifying tests. According to the invention, one-stop solutions can be provided to the design, simulation and test of remote operation control.

Description

Technical field [0001] The invention relates to a multifunctional one-stop remote operation control design and simulation system and method, belonging to the field of space operation control. Background technique [0002] In a typical teleoperation test system, the operator controls the simulation model in the virtual reality scene by manipulating the mouse, handle and other equipment. The mouse or handle gives the pose or position of the end point of the remote robotic arm in the simulation scene. The operator observes the movement state of the remote robotic arm through vision. The operator-mouse or handle-the remote robotic arm forms a closed loop to form a remote control system. [0003] The traditional teleoperation control system can be divided into two kinds, one has only operation function, and the other teleoperation system performs teleoperation simulation through three-dimensional modeling. These systems have simple functions and inconvenient operation methods, and are...

Claims

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Application Information

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IPC IPC(8): G05B17/02G05B23/02G06F17/50
CPCG05B17/02G05B23/0213G06F30/367
Inventor 张军魏春岭何英姿周扬张勇智王丽娇张海博徐拴锋王勇
Owner BEIJING INST OF CONTROL ENG
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