基于虚拟现实的预测仿真遥操作系统

Predictive Simulation Teleoperation System Based on Virtual Reality

为了补偿遥操作过程中的大时延同时为操作者提供友好的操作界面,该文提出了一种基于预测仿真的遥操作系统。首先介绍了这个系统的基本框架和功能结构,然后详细介绍了操作界面和图形仿真系统,提出了针对基于位置控制的预测仿真算法,探讨相应预测仿真的框架流程。最后,作为一个地面模拟试验将这个系统应用于卫星故障维修中,在人为的6s双向时延的情况下成功地完成了诸如推太阳能帆板和拉卫星天线等任务。

Teleoperation system based on predictive simulation is proposed for the sake of compensating the large timedelay in the process of teleoperation in a degree and providing friendly operating interface. The framework and function structure of the system is discussed firstly. And then,operator interface and graphics simulation system is described in detail. Further more,predictive algorithm aiming at position control based on teleoperation is studied ,and relative framework of predictive simulation is discussed. Finally,the system is applied to satellite breakdown maintenance. Tasks such as solar panel deploying and antenna hauling were completed successfully under the condition of man-made 6 seconds single round time delay.