Three-Arm Space Robot Shared Control for Lower Operator Burden
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Solution Overview
Problem
Traditional single-arm robots are inadequate for complex and precise extravehicular activities in space due to high operational demands and safety risks, and existing telerobotic systems impose significant physical and mental burdens on operators controlling multiple robotic arms.
Innovation Solution
A multimodal shared telerobotic system for a three-arm space robot incorporating force-feedback haptic devices, a microphone array, and a stereo camera, integrated with a shared control algorithm for pose, voice, and force control, allowing operators to focus on critical tasks while the robot autonomously handles simpler ones, with multimodal feedback for enhanced operator comfort and accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a telerobotic system with multiple robotic arms is controlled completely by an operator, then the robot can perform complex space operations, but the operator experiences significant physical and mental burden due to multitasking requirements
Solution Approach 1:
The control system is segmented into autonomous control module for basic tasks and teleoperation control module for complex tasks. The shared control algorithm divides the control workload between automatic and manual modes, allowing the operator to focus only on critical operations while the autonomous module handles routine functions like navigation and basic manipulation.
Solution Approach 2:
The system dynamically adjusts the level of autonomy based on task requirements and operator state. The shared control algorithm continuously optimizes the distribution of control authority between autonomous and teleoperated modes, enabling flexible transition from fully autonomous to fully manual control as needed.
2Device complexity
If traditional single-arm robots are used for extravehicular activities, then the system structure is simple, but the robot cannot meet the demands of complex and precise operations requiring coordination of multiple arms
Solution Approach 1:
The system merges multiple robotic arms into a coordinated multi-arm system with shared control architecture. The control algorithms integrate the operation of multiple arms to perform complex tasks such as collaborative manipulation, synchronized positioning, and coordinated assembly operations that cannot be achieved by single-arm robots.
Solution Approach 2:
The robotic system is designed with universal end-effectors and standardized interfaces that can perform multiple functions. The same robotic arms can switch between different tools and tasks, enabling the system to handle diverse operations including manipulation, measurement, assembly, and maintenance tasks.
3Ease of operation
If fully autonomous control is implemented, then the operator workload is reduced, but the current level of automation and sensor technology is insufficient for complex extravehicular activities
Solution Approach 1:
The system implements multi-sensory feedback including force feedback through haptic devices, visual feedback through stereoscopic cameras, and auditory feedback through spatial audio. The force feedback loop provides real-time tactile information about contact forces and interaction with the environment, enabling the operator to sense and control delicate operations with precise force regulation.
Solution Approach 2:
The shared control algorithm acts as an intermediary between the operator and the autonomous system. It translates the operator's high-level intent into coordinated commands for multiple robotic arms while incorporating autonomous decision-making for routine tasks, effectively bridging the gap between full autonomy and direct manual control.
Data Source
AI summary
A multimodal shared telerobotic system and method for a three-arm space robot, the system at least includes a local-site system, a communication module, and a remote-site system, where the local-site system includes two force-feedback haptic devices for left and right hands, a microphone array, and upper computer software; the remote-site system includes two robotic arms provided with end-effectors, an observation arm with a stereo camera installed at an end thereof, two force sensors, a vision unit and lower computer software; an operator can control the two robotic arms of the robot outside a cabin for performing operations, and control the observation arm to obtain a better local view; and a multimodal telerobotic control method of pose control, voice control, and force control is integrated with the robot's autonomous control through a shared control algorithm.