基于虚拟现实的空间机器人遥操作在维护作业中的应用  

Application of VR-based Space Robot Teleoperation in Maintenance Work

作　　者：赵迪[1] 李世其[1] 朱文革[1] 李明富[1] 贾阳[2] 

机构地区：[1]华中科技大学机械科学与工程学院,武汉430074 [2]北京空间飞行器总体设计部,北京100094

出　　处：《航天器工程》2010年第4期92-98,共7页Spacecraft Engineering

基　　金：CAST创新基金项目(项目编号CAST200626)

摘　　要：研究了变时延遥操作环境下的预测仿真技术、基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。开发了基于虚拟现实的机器人遥操作演示系统和自学习功能。实现了基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。The predictive simulation to teleoperation with time-varied delay is studied, And a VR based tele-robot system with self-learning function is built. The system provides operator with immersion environment including both vision and force. Variable delay is simulated by software to test and verify the predictive simulation algorithm. The teleoperation system which has selflearning function can finish several tasks under time-varied delay from 5 to 8 seconds, such as pushing the folded solar panel to be repaired, wiping the polluted camera lens on the satellite and pulling the antenna of the satellite to be adjusted.

关 键 词：空间机器人 遥操作 自学习 虚拟现实 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]