绳驱超冗余空间柔性机械臂遥操作系统设计与实验研究

Design and Experimental Study on the Teleoperation System for Cable-driven and Hyper-redundant Space Flexible Manipulator

针对绳驱超冗余空间柔性机械臂的运动特点和在大范围工作空间快速运动、避障及狭小空间作业和触碰情况下精细操作等在轨遥操作任务需求,设计并研制了适应多种工况的基于手控器和虚拟现实(VR)手柄组合的遥操作人机交互系统。对狭小空间作业和避障等工况进行分析,提出了基于自由度动态组合和末端―臂形同步规划的遥操作方法。最后,完成了穿越卫星太阳帆板狭缝的典型实验,实验验证了遥操作系统的工程实用性,以及柔性机械臂遥操作运动规划方法的可行性。因此,配合使用多种人机交互方式组合的遥操作系统和相应的运动规划方法,可使操作者以更加直观自然的方式参与到遥操作系统中,有效提高操作员完成复杂遥操作任务的安全性和操作性能。

For the motion characteristics of cable-driven and hyper-redundant flexible manipulator and the requirements of on orbit teleoperation tasks such as rapid movement in a large work space,obstacle avoidance,narrow space operation and fine operation under collision conditions,a human-machine interaction system for teleoperation based on the combination of manual controller and virtual reality(VR)handle is designed and developed,which can adapt to a variety of working conditions.Based on the analysis on working conditions such as narrow space operation and obstacle avoidance,a teleoperation method is proposed based on the DOF(degree of freedom)dynamic combination and the synchronous planning of the end and the arm configuration.Finally,a typical experiment of crossing through the slit between satellite solar panels is carried out.The experiment verifies the engineering practicability of the teleoperation system and the feasibility of the teleoperation motion planning method.It shows that the combination of a variety of human-machine interaction modes of teleoperation system and the corresponding motion planning method enable the operator to participate in the teleoperation system in a more intuitive and natural way,and improve the safety and operation performance of the operator to complete complex teleoperation tasks effectively.