论文:2016,Vol:34,Issue(2):227-234
引用本文:
刘正雄, 黄攀峰, 潘吉祥, 鹿振宇. 空间遥操作动态避障型虚拟夹具技术研究[J]. 西北工业大学学报
Liu Zhengxiong, Huang Panfeng, Pan Jixiang, Lu Zhenyu. Virtual Fixture of Dynamic Obstacle Avoidance for Space Teleoperation[J]. Northwestern polytechnical university

空间遥操作动态避障型虚拟夹具技术研究
刘正雄1,2, 黄攀峰1,2, 潘吉祥1,2, 鹿振宇1,2
1. 西北工业大学航天学院, 陕西 西安 710072;
2. 西北工业大学航天飞行动力学技术重点实验室, 陕西 西安 710072
摘要:
针对空间遥操作中对操作效率的要求,首先提出一种新型的基于虚拟夹具力约束控制方法,较传统交互方法提高了操作效率;在此基础上,针对复杂空间环境和一些非结构化环境因素导致的空间遥操作安全性问题,提出一种基于人工势场的虚拟夹具动态避障方法。该方法通过实时测量机械臂末端与障碍物间的距离计算势场作用力的大小,并将障碍物简化为质点和六面体模型,在障碍物进入势场作用范围时,根据变化的势场力的大小为操作人员提供额外的力觉反馈,辅助操作人员控制机械臂末端在未知环境中动态避障。通过CHAI3D搭建的虚拟现实仿真平台验证了该方法在提高操作性能的同时保证操作安全性。
关键词:    人工势场    动态避障    表面诱导人工势场衰减斥力    空间遥操作    虚拟夹具   
Virtual Fixture of Dynamic Obstacle Avoidance for Space Teleoperation
Liu Zhengxiong1,2, Huang Panfeng1,2, Pan Jixiang1,2, Lu Zhenyu1,2
1. Collegeof Astronautics, Northwestern Polytechnic University, Xi'an 710072, China;
2. National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnic University, Xi'an 710072, China
Abstract:
According to the operating efficiency demand for space teleoperation, we present a control method for a new kind of virtual fixture firstly; this improves the operating efficiency compared with the traditional control methods. Furthermore, for coping with the space teleoperation safety problems caused by the complicated space environment and some unstructured environmental factors, a virtual fixture based on artificial potential field is applied to achieving dynamic obstacle avoidance. The method calculates the value of the potential field force by measuring the distance between the mechanical arms and the obstacles timely, and the obstacles are simplified respectively as particle and parallelepiped models. The potential field force provides extra force feedback for the operators when the obstacles move into the potential field, thus providing aid to the operator for preventing the extremities of the mechanical arms from colliding with the dynamic obstacles in the unknown environment. The proposed method is simulated through the virtual reality platform constructed with CHAI 3D, and the simulation results indicate that the proposed method improves the operation performance and ensures operation safety.
Key words:    calculations    collision avoidance    computes simulation    computer software    control    design of experiments    efficiency    feedback    functions    mathematical models    mean square error    real time control    remote control    safety engineering    sensors    trajectories    vectors    velocity    artificial potential field    dynamic obstacle avoidance    FIRAS(Force Inducing an Artificial Repulsion from the Surface)    space teleoperation    virtual fixture   
收稿日期: 2015-09-15     修回日期:
DOI:
基金项目: 国家自然科学基金(11272256)与中央高校基本科研业务费(3102015BJ006)资助
通讯作者:     Email:
作者简介: 刘正雄(1982-),西北工业大学讲师,主要从事空间机器人及空间遥操作研究。
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