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

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...

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 manipulator is not large, and when the amplification factor increases, the operation accuracy of the distal end of the manipulator will be reduced.

At the same time, the two teleoperation systems mentioned above only have a certain function, and cannot effectively link the two

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