| 空间机器人遥操作系统设计及研制 |
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| 引用本文： | 王学谦,徐文福,梁斌,李成. 空间机器人遥操作系统设计及研制[J]. 哈尔滨工业大学学报, 2010, 42(3): 337-342 |
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| 作者姓名： | 王学谦 徐文福 梁斌 李成 |
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| 作者单位： | 哈尔滨工业大学,深圳研究生院,深圳,518055;哈尔滨工业大学,空间智能系统研究所,哈尔滨,150001;哈尔滨工业大学,深圳研究生院,深圳,518055;哈尔滨工业大学,空间智能系统研究所,哈尔滨,150001 |
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| 基金项目： | 国家自然科学基金资助项目（60805033，60775049） |
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| 摘 要： | 针对空间机器人的特点设计了多种遥操作控制模式,提出了空间机器人遥操作分层控制结构LATSR(Layered Architecture for Teleoperation of Space Robot),并研制了一套遥操作系统,包括任务规划子系统、主从控制子系统、预测仿真子系统、信息处理子系统和地面验证子系统.最后利用该系统开展了多项遥操作实验,对整个系统及各子系统的功能和性能进行了检验.该系统具有灵活的操作接口,既为一般用户提供了简便的用户界面,也为机器人专家提供了底层控制能力.
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| 关 键 词： | 空间机器人 遥操作 预测仿真 地面验证 遥编程 |
Design and development of teleoperation system for space robot |
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| WANG Xue-qian,XU Wen-fu,LIANG Bin and LI Cheng. Design and development of teleoperation system for space robot[J]. Journal of Harbin Institute of Technology, 2010, 42(3): 337-342 |
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| Authors: | WANG Xue-qian XU Wen-fu LIANG Bin LI Cheng |
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| Affiliation: | Shenzhen Graduate School,Harbin Institute of Technology,Shenzhen 518055,China;The Institute of Space Intelligent System,Harbin Institute of Technology,Harbin 150001,China);Shenzhen Graduate School,Harbin Institute of Technology,Shenzhen 518055,China;The Institute of Space Intelligent System,Harbin Institute of Technology,Harbin 150001,China);The Institute of Space Intelligent System,Harbin Institute of Technology,Harbin 150001,China) |
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| Abstract: | The teleoperation system is an important system of space robot which works with large time delays. Some remote control modes and the layered architecture for teleoperation of space robot (LATSR) are designed aiming at the characteristic of space robot. A teleoperation system for space robot is designed and developed, and the system is comprised of five subsystems: the task planning subsystem, the master-slave control subsystem, the predictive simulation subsystem, the information processing subsystem and the ground-based validation subsystem. Lastly, the experiment results verified the functionality and performance of the system and its subsystems. The flexible operation interface of the system provides simple user interface for general user, and provides the low-level control capability for roboticist. |
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| Keywords: | space robot teleoperation predictive simulation ground-based validation tele-programming |
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