摘要
共享遥操作结合了遥操作和多机器人协调技术,是重要的空间机器人复杂任务拓展和遥操作可靠性提升方式。首先,在综述现有共享遥操作技术的基础上,利用遥操作系统的超前预报特性,提出机器人复杂大时延的共享遥操作方法,给出了多操作员多机器人(MM/MS)复杂操作系统描述模型,设计了分时树状分组策略并给出其使用的前提条件。提出了MM/MS组间共享遥操作方法、时延信息维护规则、操作请求判断和状态信息维护方法。然后,给出了相应组内共享遥操作算法。最后,以多操作员单机器人(MM/SS)共享遥操作为例,给出了简化规则,使用以某大型空间机械臂为对象的MM/SS遥操作系统进行了数字仿真实验。实验结果表明:本文方法在20s级不确定时延、操作端的交互时延与遥操作回路时延比为0~1等复杂条件下,均可实施连续稳定的遥操作。
Combining teleoperation and multi-robot coordination,cooperative teleoperation is an important means to expand complex space robot tasks and improve reliability for space robot teleoperation.Based on a review of cooperative teleoperation technology,this paper first proposes the cooperative teleoperation method for robots with large time-varying delays,drawing on the advanced prediction characteristics of teleoperation systems.A description model of complex Multi-Master/Multi-Slave(MM/MS)teleoperation systems is provided,together with a tree-like timesharing grouping strategy of all operators and objects with its five prerequisites presented.The cooperative teleoperation method among groups for MM/MS systems,the maintenance rules for time delays,the maintenance method for operation request judgment and operation state,and further,the corresponding cooperative teleoperation algorithm within groups for MM/MS systems are proposed respectively.Simplified rules are provided for the representative Multi-Master/Single-Slave(MM/SS)systems,and digital simulation experiments carried out based on the MM/SS teleoperation systems for ground tests of a large space manipulator.Results show that under the 20slevel large time-varying delay,continuous and stable teleoperation can be achieved when the ratio of interaction delay among operators to the teleoperation loop delay is from 0to 1.
作者
李文皓
张珩
冯冠华
LI Wenhao;ZHANG Heng;FENG Guanhua(Institute of Mechanics,Chinese Academy of Sciences,Beijing 100190,China;School of Engineering Sciences,University of Chinese Academy of Sciences,Beijing 100049,China)
出处
《航空学报》
EI
CAS
CSCD
北大核心
2021年第1期200-214,共15页
Acta Aeronautica et Astronautica Sinica
基金
中国科学院战略性先导科技专项(XDA17030200)
国家重点基础研究发展计划(2013CB733000)
国家自然科学基金(11002143)
载人航天领域预先研究项目(030601,030101)。
