Space manipulator teleoperation planning method based on Omega hand shank

Abstract

The invention relates to a space manipulator teleoperation planning method based on an Omega hand shank. The motion of a manipulator is decomposed into translational motion of a wrist and the rotationof three final joints for control, so that the freedom degree of the manipulator involved in the translational motion of the wrist is smaller than the whole-arm freedom degree, and thus the probability of kinematic singularity is reduced. The motion of the manipulator is divided into the rotation of the three final joints and the translational motion of the wrist, the motion of the other joints generates the translational motion of the wrist except the three final joints, the translational motion and rotation are mutually decoupled, the motion control is simple and reliable, the physical significance is clear, and occupied resources are less. The attitude of the tail end of a space manipulator is mapped into the motion of the three final joints in the joint space, and compared with a traditional attitude mapping method, singular problems do not exist in the attitude motion of the space manipulator.

Description

technical field [0001] The invention relates to a teleoperation planning method for a space manipulator based on an Omega handle, and belongs to the field of teleoperation motion planning of a space manipulator. Background technique [0002] On-orbit service is usually performed by a robotic arm equipped on the tracking spacecraft. At the current level of technology, teleoperation of the space manipulator by the operator through the handle is the main way to perform on-orbit service tasks. The Omega handle is a commonly used teleoperation device. It has six degrees of freedom and is used to control the position and attitude of the end effector of the robotic arm. [0003] The motion mapping relationship between the Omega handle and the various degrees of freedom of the robotic arm directly determines the operator's experience and work efficiency. Among them, the position mapping between the Omega handle and the space manipulator is relatively simple, but the attitude mappi...

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to overcome the deficiencies of the prior art, provide a teleoperation planning method for space manipulators based on Omega handles, and solve the problem of unintuitive attitude mapping between Omega handles and space manipulators

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