自由飞行空间机器人遥操作三维预测仿真系统研究

Study on Three Dimensional Predictive Simulation System of Teleoperation for Free Flying Space Robot

三维预测仿真技术是目前解决大时延遥操作的主要方法,在空间机器人的遥操作中起着至关重要的作用。针对自由飞行空间机器人建立了一套遥操作三维预测仿真系统,并进行了地面演示验证。首先介绍了空间机器人系统及其遥操作分系统组成,以及图形预测仿真原理。然后详细介绍了遥操作分系统预测仿真子系统的开发,该子系统基于面向对象的思想和MVC(Model-View-Controller)模式进行设计,采用Java语言和Java3D图形库进行开发。仿真系统以空间机器人的运动学模型和动力学模型进行驱动,具有快速、准确的图形碰撞检测功能。最后建立了遥操作地面演示验证系统,进行了多次遥操作实验。结果表明了预测仿真子系统的有效性。

The 3D predictive simulation technology is an essential method to solve large time delay problem, which t is very important for the teleoperation of space robot. A three dimensional predictive simulation system for free-flying space robot is developed, and the system has been verified on ground. Firstly, the space robot system is introduced. And the eleoperation subsystem, the key device to control the space robot, was designed. Then, the predictive simulation sub-subsystem, which is an important part of the teleoperation subsystem, was developed. The sub-subsystem software was programmed based on the oriented object idea and MVC （Model-View-Controller） pattern, using the language of Java and Java3D. The simulation is driven by the kinematics model and dynamics model, and has a fast, accurate function of collision detection. Lastly, a ground teleoperation demonstration and verification system was set up, and many experiments were done on the system. The experiments verified the effectiveness of the work in the paper.