大时延环境下空间机器人的可靠遥操作策略  

Space Robot Reliable Teleoperation Strategy under Large Time Delay

作　　者：李文皓[1] 张珩[1] 马欢[1] 肖歆昕[1] 

机构地区：[1]中国科学院力学研究所,北京100190

出　　处：《机械工程学报》2017年第11期90-96,共7页Journal of Mechanical Engineering

基　　金：国家重点基础研究发展计划资助项目(973计划;2013CB733000)

摘　　要：在分析大时延环境下遥操作特点的基础上,从使用可靠性角度提出一种可靠遥操作的多层策略集。将各可靠遥操作策略分解在数据层、算法层、操作层、策略层以及系统层并分别展开说明,涵盖了大时延环境下的数据交互、空间机器人关节指令序列的嵌套位置/速度规划、操作员与遥操作系统交互、遥操作任务运行流程与应急和遥操作系统监测/在线维护等方面的策略。此外,对可靠遥操作中尚待解决的动作反演、操作引导和共享遥操作技术进行了分析和展望。开展了某不确定大时延环境下的空间机器人遥操作试验,试验的数据分析结果说明不同层次的遥操作可靠性性策略均十分必要,以操作员为对象的可靠性提升策略和设计方法是可靠遥操作技术发展的重要方向。Teleoperation characteristics under large delay environment are analyzed. A multi-strategy set for reliable teleoperation is proposed based on use reliability. The reliable teleoperation strategy is decomposed into data layer, algorithm layer, operational layer, tactics layer and system layer, including the description from data exchange under large time delay, the nested position / speed plan for space robot joints instructions sequence, the interaction between operator and tele-operate system, teleoperation mission running processes, emergency methods and teleoperation system monitoring / online maintenance. Some unresolved techniques for reliable teleoperation such as operator action inversion, operating guide and share teleoperation are analyzed and discussed. Experimental studies of space robot teleoperation under uncertain large time delay are carried out. Results show that different levels of teleoperation reliability strategies are necessary. The reliability strategy and design method for the operator will be important direction of teleoperation technology development.

关 键 词：大时延遥操作 空间机器人 可靠性策略 

分 类 号：V19[航空宇航科学与技术—人机与环境工程]