Research On Space Robot Teleoperation Based On Model Calibration

With more and more frequent human activities in space, the requirements ofon-orbit service provided by the space robot increase. Using space robot to take theplace of astronauts in space operating in the harsh space environment.Currently, thelevel of key technologies such as artificial intelligence is low, due to the reason is tomake the space robot be not able to complete autonomously the task in the spaceenvironment. Teleoperation is a combination of human intelligence and roboticssmart, it is an effective means to complete the various space missions. In this paper,studying the robot kinematics parameter identification method. And building aground-based test platform, to verify that the hand controller is stable and reliableand virtual reality technology can effectively solve the delay problem.Building the three-dimensional forecast simulation image system has threesteps. First, modeling using Pro/E. Next, defining the model sports relations in3dMax. Finally, rendering the virtual scene in VC++and OSG environment. Thethree-dimensional predictive simulation image system is to provide the operatorwith no time-delay visual information, collision detection information and thevirtual fixture. The robot kinematics parameter identification uses least squares andPSO algorithm, and comparing the identification results of the two algorithms todetermine the identification effect and scope of two algorithms.On the teleoperation ground experimental platform, the hand controller is to beused as the main manipulator, it gives the movement amount of the position andorientation of the slave-side of the manipulator, and solving robot joint movementamount by means of inverse Kinematics, and it is sent directly to thethree-dimensional predictive simulation image system, let it predict the movementof the robot. The slave-side manipulator gets time-delay joint movement amount.The slave-side manipulator will send force feedback information to hand controlduring the moving period.Finally, verifying the above theories by the teleoperation experiment.