Research On Virtual Simulation And Task Planning Of Space Manipulator Teleoperation

teleoperated robot can extend human’s ability of perception and operation and replacepeople to work in extreme environment like nuclear radiation、deep sea and space, which isdangerous and hard to reach. smart decision-making ability and the local autonomy of therobot can be effectively combined in teleoperation system to complete human beings workwhich is generally hard or impossible to finish. This paper aimed at researching keytechnology of space manipulator teleoperation and mainly carried out four aspects of research:space manipulator virtual reality simulation research; space manipulator operation planningresearch; space manipulator teleoperation security strategy research.Space manipulator virtual reality modeling comprised geometric modeling、kinematicsmodeling、scene modeling，kinematics modeling mainly refers to positive solution、inversesolution of position and orientation、inverse solution of speed. Space Manipulator virtualreality simulation was realized by two methods based on consideration of special function andstructure of space manipulator, one was based on relative pose positioning, the other wasbased on absolute pose positioning, their merits were compared and analyzed.Space manipulator operation planning consisted of task planning and trajectory planning,task was planned in operation level、action level、motion level respectively through coarse tofine particle principle to get moving elements executing sequence which was transformed intomoving executing instruction by mean of trajectory planning and formatting based on jointspace and operation space.This paper analyzed factors which may affect the security of teleoperation and broughtforward the corresponding preventive strategy, mainly studied strategy of collision detectionand virtual force feedback.Space manipulator prototype system was overall designed from aspects of teleoperationcontrol mode and operation mode, the ground terminal system and the orbit terminal systemwere developed, the network communication between the orbit and the ground was realized, aspace manipulator teleoperation prototype system was finally built, each functional module ofthe system was tested with space manipulator installing truss experiment and collisiondetection experiment.