空间遥操作分段自适应碰撞预警方法  

Phased Adaptive Collision Warning Method for Space Teleoperation

作　　者：时中[1] 黄学祥[1] 崔吉祥 

机构地区：[1]北京跟踪与通信技术研究所,北京100094

出　　处：《飞行器测控学报》2016年第1期41-47,共7页Journal of Spacecraft TT&C Technology

基　　金：国家自然科学基金(No.11402004)

摘　　要：目前空间遥操作碰撞预警机制并未考虑遥操作任务的阶段性特点,操作的快速性与精细性难以兼顾。针对这一现状,提出了空间遥操作分段自适应碰撞预警方法。通过计算机械手末端与操作目标之间的相对距离,将遥操作任务划分为自由接近、精细调整和操作控制三个阶段,分阶段自适应调整碰撞检测策略和操作比例系数,并通过直观的预警视觉信息,使得遥操作员实时感知任务阶段。目标逼近试验表明:在自由接近段,随着对目标的逼近,操作速度从7.46mm/s逐渐减小为4.41mm/s,关节运动和相对位置的抖动较大;在精细调整段,操作速度为3.98mm/s,关节运动和相对位置的抖动较小。因此,该分段自适应碰撞预警方法有效克服了操作快速性与精细性的矛盾,适合于未来更为精细、复杂的空间遥操作任务。Current collision warning mechanism for space teleoperation has not considered the phase characteristics of teleoperation tasks, and speedality and precision are hard to balance. In view of this situation, a phased adaptive collision warning method for space teleoperation is proposed. A teleoperation task is divided into three phases： free approach, fine adjustment and operation control by calculating the relative distance between the end effector of robot and the target, in order to adopt different bounding box structures and adjust the operating scale factor at different phases. And the operator perceives the task phases in real time according to the intuitive warning visual information. Target approaching experiment results showed that, at the free approach phase, operation speed is decreased from 7.46 mm/s to 4.41 mm/s as approaching the target, which is faster compared to the 3.98 mm/s at the fine adjustment phase, and jitter of joint movement and relative position is bigger than the fine adjustment phase. As a result, the proposed collision warning method can overcome the contraction between speedality and precision of operation, and adapt to finer and more complicated space teleoperation in the future.

关 键 词：空间遥操作 碰撞预警 分段自适应调整 方向包围盒(OBB) 旋转矩阵 

分 类 号：V476.5[航空宇航科学与技术—飞行器设计] TP391.9[自动化与计算机技术—计算机应用技术]