Telemanipulation And Teaching Control Of Space Robot Based On Virtual Fixtures

Robonauts can assist astronauts to accomplish on-orbit space tasks,not only ensure the safety of astronauts,reduce operating burden,but also increase efficiency,expand the scope of service.By far it was hard for robonauts to achieve full or partial self-movement with the technology limitation of computer,artificial intelligence and robot control.For the unstructured space environment,the thesis studied the telemanipulation of virtual fixtures by haptic master manipulator and cyber glove in master,and the teleoperation compliant teaching by impedance control in slave.So that robonauts can achieve the task of teleoperation and teaching,whether a random failure maintenance or a repetitive assembling,under the control of astronauts to bring the human expert knowledge and decision-making into the control loop.Firstly,the mapping control of master manipulator and cyber glove was proposed,and the mapping drift problem from the manual workspace to the robotics motion space was solved.Teleportation of virtual fixtures was divided into five master manipulator control modes and two cyber glove control modes.Taking the master manipulator as an example,the virtual fixture model and the base constraint type under different control modes was constructed,and the online generation methord of virtual fixtures based on the operation intend recognition was presented,and also a method of guide the operation path by the base constraint was applied.The highly telepresence teleoperation was realized through the virtual force introduced by artificial potential field,and the feedback force reacted by the force senor.Then the robonaut teleoperation teaching was researched.In the process of teaching,when the robot interacting with the operating environment,the optimized impedance control algorithm can achieve the teleoperation compliant teaching,so that the manipulator can maintain a appropriate range of contact force relative to the operating environment.After that the first-order hysteresis filtering and the fifth-order smoothing filter are used to depress and smooth the data.In the teaching reproduction,the trajectory planning of the instruction data is carried out,including the path interpolation algorithm and the speed control algorithm to realize the motion repetition of teleoperation teaching.Finally,the robonaut teleoperation system was developed,including the hardware and software platform of master subsystem and the slave robot subsystem,as well as a variety of communication methods.In order to verify the proposed method,the related tasks was experimented,including the joint experiment by the master manipulator and cyber glove,and the experiment of teleoperation teaching by the master manipulator.With the analysis of experimental process and data,the conclusioncon was verified that the robonaut teleoperation with the virtual fixtures was reliability and the robonaut teaching of the teleoperation was feasibility.