空间机器人遥操作系统设计及研制

Design and development of teleoperation system for space robot

摘要:

针对空间机器人的特点设计了多种遥操作控制模式,提出了空间机器人遥操作分层控制结构LATSR(Layered Architecture for Teleoperation of Space Robot),并研制了一套遥操作系统,包括任务规划子系统、主从控制子系统、预测仿真子系统、信息处理子系统和地面验证子系统.最后利用该系统开展了多项遥操作实验,对整个系统及各子系统的功能和性能进行了检验.该系统具有灵活的操作接口,既为一般用户提供了简便的用户界面,也为机器人专家提供了底层控制能力.

Abstract:

Several remote control modes and a layered architecture for teleoperation of space robot(LATSR) are designed aiming at the characteristic of space robot.A teleoperation system for space robot is developed,which is comprised of five subsystems:the task planning subsystem,the master-slave control subsystem,the predictive simulation subsystem,the information processing subsystem and the ground-based validation subsystem.Experimental results verify the functionality and performance of the system and its subsystems.The flexible operation interface of the system provides simple user interface for general users,and the low-level control capability for roboticists.