Control Technology Based On Different Human-Computer Interactive Devices For Space Tele-Robot

In recent years, with the constant progress of science and technology, human space activities become frequent gradually. Countries are developing a series of exploration program for deep space and solar system actively. Due to the space environment is very bad, space robot plays an important role in a lot of space tasks. However, space robot is restricted on the complete autonomous work due to the unknown and complicated space environment. Space tele-robot system which is based on human-computer interactive devices is safe and stable. Therefore, space tele-robot system has broad application prospects.In order to meet the needs of the space station of our country in the future, this thesis studies some human-computer interactive technologies in the tele-robot system and develops a set of space tele-robot experiment system on the ground. The system consists of two kinds of human-computer interactive devices and 3D virtual environment and a human-computer interactive software application. One of the human-computer interactive devices is based on Kinect and the other one is based on wearable data arm. This system is mainly used for typical space tasks. That means when operator uses the human-computer interactive in the ground, the operator will control the space robot in the space accurately. Force and visual feedback enhances the telepresence and improve work efficiency.Key innovations of this thesis are:(1) KDL(The Kinematics and Dynamics Library) which is provided by ROS(Robot Operating System) is used in the robotic inverse kinematics. It is based on the numerical calculation method, getting the most suitable solution after continuous iteration. It is faster than the traditional analytical solution and the result is correct and stable. The functions in the KDL are easy and convenient to use. (2) 3D virtual environment involves the modeling of space robot, working environment, target objects and force feedback. The modeling approach which combines of the OpenGL and 3DS MAX is adopted to achieve high simulation for the scene in the space. In addition, the virtual cameras are set up to shoot and display the virtual environment from multiple angles. (3) Target objects are extracted from the 3d point cloud image. First, the irrelevant outliers are filtered according to the characteristics of the HSL color. Second, RANSAC (Random Sample Consensus) is used to estimate the parameters of the mathematical model for the target object from 3d point cloud data which includes outsider points by iteration. Then, the parameters are matched with the models in the library. At last, the geometric model parameters of the target object are achieved. (4) The positions of skeletal joint are tracked and achieved by Kinect. The rotation matrix in the human joint kinematics is used to calculate the movement angle of the skeletal joint. Else, the interactive software which can display real-time and dynamic skeletal figure is designed. (5) Quaternion is introduced when calculating the euler angle of the arm joint. After converting the euler angle to quaternion, multiplication calculation is applied among the quaternions. This method is simple, fast and no singular point.