Study On Robot Control Algorithms Of Space Teleoperation

Teleoperation is under the current technical and economic conditions, and in some special areas, such as deep sea, hazardous, space and other non-structural environments, the best solution for automation by human-computer integration.Space teleoperation is a more mentioned and popular one among the above areas, and because it involves many disciplines and has much complexity of research and application, even represents today's highest technology level, many of the world major countries have established special projects. Of course, our country is no exception. However, just because teleoperation in space almost represents the most cutting-edge technology, its research and experimental costs and expenses are very high, even leading to NASA's terminating one of its related items a few years ago. In this situation, relevant organizations of our country proposed research in space teleoperation focus on aspects of several key technologies. So the ground simulation study to space teleoperation technology is a good way for cutting the costs and reducing the expenses and is paid more and more attentions by many institutes.This paper was undertaken in the support of the project "the free-flying robot for teleoperation in on-orbit servicing" of Robot Institute of Henan University of Technology, emphasizing on modeling the space robot in the ground experiment system, realizing proposed control algorithms and doing simulation to the space robot system.The paper first described in detail the control configuration of the space telerobot control system and the ground test system of the space telerobot set up in our teleoperation laboratory, and then mainly, (1) established a space robot model including the base body, introduced the sliding mode control method to obtain the coordinated control of the space free-flying robot pose and its base body, and (2) used the Bang-Bang control method to obtain the time optimal control of the space free-flying robot base body, based on analyzing the special structural characteristics of research object—space robot. Analysis of simulation results showed that the proposed control algorithms are feasible.