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Teleoperation system based on virtual arm and for space station robot

A technology for operating systems and space stations, which is applied to manipulators, program-controlled manipulators, and manufacturing tools. It can solve problems such as high operating level requirements, poor man-machine efficiency, and difficulty in meeting the needs of space station construction, so as to improve operating accuracy and reduce Requirements for operating skills, the effect of assisting quick adjustment actions

Active Publication Date: 2017-09-26
SOUTHEAST UNIV
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  • Abstract
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  • Claims
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Problems solved by technology

However, these devices have high requirements on the operator's operation level, and the man-machine efficiency is poor, so it is difficult to meet the growing demand for space station construction

Method used

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  • Teleoperation system based on virtual arm and for space station robot
  • Teleoperation system based on virtual arm and for space station robot
  • Teleoperation system based on virtual arm and for space station robot

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Embodiment Construction

[0023] The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0024] A teleoperation system for space station robots based on virtual arms, such as figure 1 As shown, it includes an arm joint motion measurement module, a data acquisition module, a data transmission module and a main operation processing module. The main operation processing module includes a data filtering module, a data display module, an arm motion calculation module, and a robot motion inverse calculation module. and virtual scene rendering module.

[0025] The arm joint motion measurement module includes 3 sets of MEMS sensors, which are respectively set at the shoulder joint, elbow joint and wrist joint of the operator's arm, and the quaternions at these 3 joints are collected in real time. The data acquisition module is composed of a microprocessor minimum system, which is used to read and convert the data collected by the arm ...

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Abstract

The invention discloses a teleoperation system based on a virtual arm and for a space station robot. The teleoperation system comprises an arm joint movement measuring module, a data acquisition module, a data transmission module and a main arithmetic treatment module. The main arithmetic treatment module comprises a data filtering module, an arm movement resolving module, a robot movement inverse resolving module and a virtual scene rendering module. The teleoperation robot can be directly controlled through arm actions of an operator, the requirements for operation skills of the operator are greatly lowered, and the man-machine effect of the system is effectively improved.

Description

technical field [0001] The invention belongs to the field of aerospace technology, and in particular relates to a remote control system for space station robots. Background technique [0002] With the continuous advancement of science and technology, human space activities are becoming more and more frequent. A lot of work and the harsh space environment have brought great difficulties to the operation of astronauts. However, the intelligent robots currently developed, due to space conditions, sensor control technology It is still risky to allow them to work fully autonomously in unknown or complex environments. Therefore, using space station teleoperation robots based on human-computer interaction equipment to complete a large number of space missions is a long-term and effective means. The space station teleoperation robot has been widely used in space station segment transposition and auxiliary docking, hovering aircraft capture and auxiliary docking, extravehicular equi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
Inventor 宋爱国张慧李会军徐宝国曾洪李建清
Owner SOUTHEAST UNIV
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