| The construction of lunar bases in China is divided into three main stages:unmanned exploration of the lunar surface,manned lunar landing,and construction of lunar bases.With the continuous development of space technology in China,China will focus on the task of establishing lunar bases in the future.However,the lunar surface is characterized by high temperature difference,microgravity and strong radiation,which is not suitable for future astronauts to directly participate in the construction of the lunar base.Therefore,it is more economical and safe to use astronauts to remotely control robots.The construction of lunar bases faces material transportation or assembly work,and the use of dual arm mobile robots can achieve stronger load carrying capacity.At the same time,the mobile base can expand the operating range of the robotic arm and improve the efficiency of work tasks.The complex environment and heavy homework tasks on the lunar surface will put forward higher requirements for personnel in control positions.However,there is currently a lack of ground physical training platforms,and traditional business training systems are difficult to simulate lunar environments and cannot meet training requirements.Therefore,there is an urgent need to build a virtual simulation training system based on dual arm tasks.By scoring the operations of trainers in the virtual simulation environment,quantifying the training effectiveness of personnel,and improving the proficiency of operators in job operations,this has important engineering value and practical significance for China’s future development of lunar base construction tasks.This article aims to conduct research on the collaborative task of lunar dual arm mobile robots and the virtual fixture assisted dual arm operation of robotic arms.The specific research content is as follows:Firstly,summarize the functions of the lunar teleoperation training system,conduct a requirement analysis of the lunar training system,divide algorithm modules,and develop functional and performance indicators for the teleoperation training system;Design the architecture of a lunar mobile robot dual arm teleoperation training system for collaborative transportation;Design a scoring model for the training system based on the characteristics of lunar homework tasks,to evaluate the completion of training tasks and the training effectiveness of operators.Secondly,the kinematics analysis of the double arm mobile manipulator is carried out,and its overall kinematics model is established considering the terrain of the moon surface.The speed level Jacobian matrix is used to solve the kinematics inverse solution of the mobile manipulator as a whole,and the inverse solution algorithm is used to realize the Descartes space planning of the mobile manipulator,so as to realize the task of large-scale material handling when the end of the mobile manipulator on the moon surface is under the control of astronauts.Then,based on the actual requirements of lunar base construction tasks,the training tasks are divided and the characteristics of typical tasks are sorted out.An adaptive pipeline virtual fixture model is designed for the traction motion of mobile robotic arms in an open lunar environment,and a linear virtual fixture model is designed for the truss assembly task.The virtual force generated based on the artificial potential field method is used as training feedback to assist the training tasks and improve the transparency of the teleoperation training system.Finally,based on the VREP interface and QT,the development of a teleoperation training system was completed,and experimental verification was carried out on the collaborative handling task and truss assembly task of the dual arm mobile robot in the construction of the lunar base.The experimental scheme is designed to further verify the correctness of the overall kinematics model of the mobile manipulator and the effectiveness of the virtual fixture assisted teleoperation algorithm. |
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