空间遥操作技术地面验证平台  

Ground Verification Platform for Space Teleoperation Technology

作　　者：王雪竹[1,2] 李洪谊[1] 王越超[1] 阳方平[1,2] 陈鹏[1,2] 余飞[1] 李贵祥[1] 

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016 [2]中国科学院研究生院,北京100101

出　　处：《载人航天》2012年第5期38-44,50,共8页Manned Spaceflight

基　　金：载人航天领域预先研究项目(030202)

摘　　要：为验证地空大通信时延条件下的空间遥操作技术和方法,使用视觉反馈、力反馈和3D虚拟现实技术等搭建一个6自由度的空间遥操作技术地面验证平台。设计一种可在抖动大时延条件下保证系统稳定性的双边PD控制算法,该算法在双边控制系统中加入比例微分(PD)控制器,由双端口网络绝对稳定性准则保证稳定。试验在3s^5s变时延条件下完成基于目标任务板的多项遥操作任务,验证了空间遥操作技术方案的可行性。To verify space teleoperation technology under large time delay condition, a 6-degree-of-freedom ground verification platform is built with visual feedback, force feedback and 3D virtual reality technology. By adding PD control strategy to bilateral control, a PD-type bilateral controller is designed, which can guarantee the stability of the system under time-varying delay conditions by absolute stability criteria of 2-port communication circuit. All tasks on a task board are completed using the teleoperation system under 3s^5s varying round trip delay, which verifies the feasibility of the space teleoperation technology.

关 键 词：遥操作 力反馈 3D虚拟现实 双边PD控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]