虚拟夹具辅助遥操作技术研究虚拟夹具辅助遥操作技术研究.pdfVIP

虚拟夹具辅助遥操作技术研究 摘 要 空间机器人一般工作于未知的非结构化空间。将人的智能操作与机器人的自 主作业相结合，即通过遥操作的方法便于实现空间机器人的太空作业。安全性与 控制性能是评价遥操作系统的两个重要指标。但是这两个指标却有一定的对立 性。本文将虚拟夹具方法应用于空间机器人的遥操作技术中，研究了虚拟夹具技 术在轨迹跟踪、运动导航及避障等方面辅助遥操作的具体实现方法。虚拟夹具技 术的引入，协调统一地提升了遥操作系统的安全性与控制性能。本文主要在以下 几个方面开展了相关工作：建立基于自主研发的机器人设备的空间机器人遥操作 系统。对虚拟夹具方法的概念、分类与应用策略进行了研究说明。对虚拟夹具辅 助遥操作方法进行了详细的讨论。最后，为验证虚拟夹具方法对提升遥操作系统 性能的效果，进行了空间机器人遥操作地面仿真实验研究，最终通过分析实验结 果，验证了虚拟夹具方法的实用性。 关键词：机械电子工程 遥操作 虚拟夹具 轨迹跟踪 ABSTRACT Space robot system works in unknown changing environment, the practical approach is to take advantage of high-level human intelligence, using teleoperation method to control space robot to complete the operation .In robot teleoperation, the basic requirement is to improve the operational performance of the robot, while ensuring the safety. However, safety and operational performance are often conflicting. In this paper, the virtual fixtures method is used, study the virtual fixture in the trajectory tracking technology, motion and other aspects of navigation and obstacle avoidance assist specific method of teleoperation. Virtual fixtures technology is used to enhance the effective integration of the space robot operators decision-making ability and precise control of robot teleoperation . This paper carried out in the following aspects related work: a space robot teleoperation system is established based on the relevant technical equipment in my Lab, described the concept of virtual fixture method, classification and application of research strategies, virtual fixtures assisted teleoperation methods are discussed in detail. Finally, in order to verify the effection of virtual fixture assisting teleoperation effect of auxiliary methods and tec