基于虚拟现实的空间机器人遥操作在维护作业中的应用赵迪.pdfVIP

Vol. 19 No.4 19 4 92 SPACECRAFT ENGINEERING 2010 7 1 1 1 1 2 赵 迪 李世其 朱文革 李明富 贾 阳 ( 1 , 430074) ( 2 , 100094) 研究了变时延遥操作环境下的预测仿真技术 于虚拟现实的机器人遥操作系统组 成遥操作系统的自主学习技术和虚拟操作环境建模技术开发了 于虚拟现实的机器人遥操作 演示系统和自学习功能实现了 于虚拟现实的临场感遥操作, 在5~ 8s 模拟时延条件下完成了 推开故障太阳翼, 擦拭受污染的镜头和拉动调整出现故障的卫星天线等作业 空间机器人; 遥操作; 自学习; 虚拟现实 : T P2421 : A : 1 73-8748( 2010) 04-0092-07 Application of VR-based Space Robot Teleoperation in Maintenance Work 1 1 1 1 2 ZHA O Di LI Shiqi ZHU Wenge LI M ingfu JIA Yang ( 1 School of M echanical Science Engineering, Huazhong U niversity of Science Technology, Wuhan 430074, China) ( 2 Beijing Institute of Spacecraft System Engineering, Beijing 100094, China) Abstract: T he predictive simulation to teleoperation w ith time- varied delay is studied1 A nd a VR based tele-robot system w ith self-learning function is built1 T he system provides operator w ith immersion environment including both vision and force1 Variable delay is simulated by softw are to test and verify the predictive simulation algorithm1 The teleoperation system w hich has self- learning function can finish several tasks under time-varied delay from 5 to 8 seconds, such as pushing the folded solar panel to be repaired, w iping the polluted camera lens on the satellite and pulling the antenna of the satellite to be adjusted1 Key words: space-robot; teleoperation; self-learning; virtual reality