Space manipulator teleoperation planning method based on Omega hand shank

A space manipulator and manipulator technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem of unintuitive attitude mapping between Omega handle and space manipulator

Active Publication Date: 2020-08-28
BEIJING INST OF CONTROL ENG
View PDF7 Cites 5 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Space manipulator teleoperation planning method based on Omega hand shank
  • Space manipulator teleoperation planning method based on Omega hand shank
  • Space manipulator teleoperation planning method based on Omega hand shank

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0065] Based on the built teleoperation ground test system, the robotic arm teleoperation planning method disclosed in the present invention is used. The robotic arm adopts a series structure, and a hand-eye binocular camera is installed at the end. Considering the safety, in the remote operation test, the enabling device-pedal was introduced. It can control whether the operation command generated by the Omega handle is sent to the robot arm for execution: when the operator steps on the pedal, the operation command can be sent to the robot arm for execution; when the operator releases the pedal, the stop command is sent to the robot arm, The robotic arm stops. After confirming that the status of each device is correct, start the test: Based on the images returned by the hand-eye binocular camera, the operator operates the Omega handle to control the robotic arm to move toward the target star, and when the target star docking ring is in the grip at the end of the robotic arm, ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

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...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1689
Inventor 徐拴锋张海博段文杰王勇胡海东孙鲲魏春岭何英姿
Owner BEIJING INST OF CONTROL ENG
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap