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A teleoperation planning method for space manipulator based on omega handle

A technology for space manipulators and manipulators, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem of unintuitive mapping between Omega handles and space manipulators, reduce the probability of kinematic singularity, and simplify motion control Reliable, low-resource effects

Active Publication Date: 2021-12-07
BEIJING INST OF CONTROL ENG
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  • 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

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  • A teleoperation planning method for space manipulator based on omega handle
  • A teleoperation planning method for space manipulator based on omega handle
  • A teleoperation planning method for space manipulator based on omega handle

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Embodiment Construction

[0065] Based on the built teleoperation ground test system, the manipulator 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 is 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 working. 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 movement of the robotic arm to the target star, and when the target star docking ring is in the claw at the end of the ro...

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Abstract

The invention relates to a teleoperation planning method for a space manipulator based on an Omega handle, which decomposes the movement of the manipulator into two parts, the translation of the wrist and the rotation of the last three joints, and controls the movement of the wrist. The arm degrees of freedom are smaller than the full arm degrees of freedom, thereby reducing the probability of kinematic singularities. The movement of the robotic arm is divided into the rotation of the last three joints and the translation of the wrist. The movements of the other joints except the last three joints generate translation of the wrist. The translation and rotation are decoupled from each other, and the motion control is simple and reliable. , which has a clear physical meaning and takes up less resources. The attitude of the end of the space manipulator is mapped to the motion of the last three joints in the joint space. Compared with the traditional attitude mapping method, there is no singularity problem in the attitude movement 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 for a space manipulator. Background technique [0002] On-orbit servicing is usually done by robotic arms equipped with tracking spacecraft. At the current level of technology, the 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, which are 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 each degree 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 mapping be...

Claims

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Application Information

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Patent Type & Authority Patents(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
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