基于RTW的空间机器人遥操作实时仿真系统  

Real-Time Simulation of Telerobotics Based on RTW

作　　者：李宽[1] 韩大鹏[1] 韦庆[1] 

机构地区：[1]国防科技大学机电工程与自动化学院,湖南长沙410073

出　　处：《计算机仿真》2008年第10期65-68,共4页Computer Simulation

基　　金：国家863计划(2006AA704107)

摘　　要：搭建了一套实时仿真系统以作为空间机器人遥操作的研究平台。系统以两台PC机分别模拟主从端的运行情况,主端PC连接通用力反馈游戏手柄作为主手输入设备,从端PC挂接嵌入式处理器(PC/104)用作空间机械手的实时仿真;主从端信号传输时延根据TCP/IP协议由软件模拟产生。利用Matlab中的RTW/xPC Target工具箱将空间机械手模型编译为实时可执行代码,下载到嵌入式处理器(PC/104)实时执行,保证了手柄输入和空间机械手Simulink模型间的时钟同步。结合给定模型数据,完成了空间机械手实时位置跟踪实验,证明了系统搭建方案的可行性。系统对空间机器人遥操作的研究起到了很好的支撑作用。A real - time simulation system is built as a research platform of space robots teleoperation. Two computers are used to simulate the situation of the host and the remote side separately. The host PC and a general force feedback joystick are used to input the control command. The Simulink model of space manipulator is running on the other PC, which is connected with an embedded processor （PC/104）. The transmission delay between two sides is generated by software according to TCP/IP protocol. The model of space manipulator is compiled into real - time code by RTW/xPC Target and the code is carried out by an embedded PC/104 processor to guarantee the time synchroni- zation between the input signal and the simulink model of space manipulator. The position tracking experiment is carried out with the given data, and the result proves that the proposed method is efficient. Such a real - time system would be quite helpful for the research of teleoperation of space robots.

关 键 词：遥操作 实时仿真 实时工具箱 时延 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]