| 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.DOI:10.11918/j.issn.0367-6234.2010.03.001 |
| WANG Xue-qian,XU Wen-fu,LIANG Bin,LI Cheng.Design and development of teleoperation system for space robot[J].Journal of Harbin Institute of Technology,2010,42(3):337.DOI:10.11918/j.issn.0367-6234.2010.03.001 |
|
| 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. |
| 关键词: 空间机器人 遥操作 预测仿真 地面验证 遥编程 |
| DOI：10.11918/j.issn.0367-6234.2010.03.001 |
| 分类号:TP242 |
| 基金项目:国家自然科学基金资助项目(60805033,60775049) |
|
| Design and development of teleoperation system for space robot |
|
WANG Xue-qian1, XU Wen-fu2, LIANG Bin1,2, LI Cheng2
|
|
1.Shenzhen Graduate School,Harbin Institute of Technology,Shenzhen 518055,China;2.The Institute of Space Intelligent System,Harbin Institute of Technology,Harbin 150001,China)
|
| Abstract: |
| Several remote control modes and a layered architecture for teleoperation of space robot(LATSR) are designed aiming at the characteristic of space robot.A teleoperation system for space robot is developed,which 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.Experimental results verify the functionality and performance of the system and its subsystems.The flexible operation interface of the system provides simple user interface for general users,and the low-level control capability for roboticists. |
| Key words: space robot teleoperation predictive simulation ground-based validation tele-programming |
