面向空间机械臂遥操作任务的客观绩效指标分析

Analysis of Objective Performance Metrics for Space Manipulator Teleoperation

面向空间站背景下的机械臂遥操作任务,总结并提出了11项操作者在手柄操作中的客观绩效指标,基于机械臂遥操作仿真平台进行了机械臂转移对接操作实验。实验结果表明:提供数值信息对多项操作绩效指标有提升作用,4摄像机布置方案在到达关节限位次数指标上优于2摄像机布置方案;关节限位次数、错误操作次数、手柄控制效率等几项指标,可以预测是否能够成功完成对接任务。提出的手柄控制效率指标能够预测操作用时以及到达限位位置风险等核心指标,可用于综合评价实验任务中人的操作效率。

As to the teleoperation tasks of space manipulator in the space station,11 items of performance metrics in the operation were summarized,and the experiments of manipulator transfer and docking based on the manipulator teleoperation simulation platform were conducted. The results showed that： providing numerical information could promote several indexes,and the layout setting of 4 cameras was superior to that of the 2 cameras for the times of reaching joint limitation; the mission success could be predicted by the times of reaching joint limitation,the times of incorrect operation and the efficiency of operating the hand controllers; the efficiency of operating the hand controller proposed in this study could predict the completion time and the risk of reaching joint limitation,hence it may be used in the comprehensive evaluation of an operator＇s performance in manipulator operation.