Research On Space Robot Teleoperation Control Based On Augmented Reality And Passivity

In recent decades, using space robots for on-orbit maintenance task is more andmore brought to the attention of the countries, not only relieves the workload ofastronauts, reduces the risk of extra vehicular activity; but also reduces the cost ofspace activities, improves the working efficiency. But due to insufficient level ofintelligence technology, computer technology, space robots are difficult to operateindependently, so the practical way is to use the teleoperation to complete on-orbitmaintenance tasks. So a space robot on-orbit maintenance ground teleoperationplatform has been established, augmented reality technology and time-domainpassivity control algorithm for bilateral teleoperation system are studied.An on-orbit serving teleoperation platform for controling the space robot onthe ground is established. A kinematics model is built in this paper, geometricmodels of the robot are built and assemble. Predictive simulation scene isestablished, to achieve the predictive display of the slave robot using robot model atoperator’s side, overcome the influence of time delay for vision telepresence.Connecting a haptics handle into the teleoperation system, the operator can controlthe position and orientation of the slave arm through the haptics handle, and feelarm’s force presence.Aim at the stability issues of haptics system leaded to a large ground-spacetime delay, the mathematical structures of aspects are established. Base ontime-domain passivity control arithmetic, the reason why haptics system is unstableis too much energy produced by communication delay link is pointed out, sopassivity observer (PO) and passivity controller (PC) are designed to the system, toexpend the produced energy, while not too much like other methods based onpassivity. And the method simulated by Simulink, the result shows that it canguarantee the stability of bilateral haptics system, under the case of meetingtracking performance with a5s time delay.In the task of arresting target using space robot, aim at problem that theoperator is difficult to track target merely on the video images, using augmentedreality technology, the video captured by the camera assembled on robot end and thevirtual target model is superimposed, coordinates of signalized point a re acquired from the image. The deviation between model and video, and the deviation from realposition to orientation and the goal position and orientation obtained, by analyzingthem, a manually control law is summed up based on the deviation from model tovideo, provided to operators, helping them control the robot arm reach the goalposition and orientation as soon as possible. And trough a experiment the feasibilityof this method is verified.In the experiment of pulling spring, in the case of delay o f5s, the stability ofthe haptics system’s stability is guaranteed with using time-domain passivityalgorithm, while tracking performance is not significantly affected. By theexperiment of replacing the orbital replacement unit (ORU), the on-orbit servingground teleoperation platform is tested, it is proved that this platform can be used tocontrol robot in joint space or in cartesian space, to complete some on-orbitmaintenance tasks.