遥控机器人在空间抓物实验的仿真研究

SIMULATION STUTY FOR TELEROBOT-GRAPING OBJECT IN SPACE-EXPERIMENT

本文是对空间机器人由地面站遥控操纵在空间抓物实验方案的仿真研究,它是在图形计算机工作站上用C语言编程实现的。视景化仿真描绘了自由飞行物与机器人之间的相对运动,考虑了空间站与地面站信息传输延迟的影响,用扩展的卡尔曼滤波实现了机器人对自由飞行物的自动跟踪,人在地面站观测预报的机器人和目标物的立体图象,可以经操纵球控制机械手运动。仿真结果表明,该方案对进一步研究有很好的参考价值。

This paper provides simulation study for the project that arises when robots in space are tele-operated from ground stations. Et is programmed by C language at graphic-computer-workstation. The visualization simulation describes the relative motion between free-flying object and robot , and considers the problem of transmission time delays between spacelab and ground stations. Expanded-Kalman-Filter is used to realize automatic following between free flying object and robot. Human can be able to teleoperate a robot in a spacelab from ground with control ball by looking at a 'predicted' stereo image model of the robot and moving object. Simulation results show that this scheme has good reference value to further research.