面向机械臂遥操作的虚拟人机交互系统设计  

Design of a Virtual Human-Machine System for Manipulator Teleoperation

作　　者：曾欣 宋爱国[1] 周永辉[2] 李会军[1] ZENG Xin;SONG Aiguo;ZHOU Yonghui;LI Huijun(School of Instrument Science and Engineering,Southeast University,Nanjing 210096,China;Beijing Space Vehicle General Design Department,Beijing 100094,China)

机构地区：[1]东南大学仪器科学与工程学院,南京210096 [2]北京空间飞行器总体设计部,北京100094

出　　处：《载人航天》2020年第3期353-360,共8页Manned Spaceflight

基　　金：国家重点研发计划项目(2017YFB1300305)。

摘　　要：为提高空间站机械臂遥操作系统的精度和安全性,设计了一种基于混联式七自由度力反馈设备的虚拟人机交互系统。系统由力反馈设备、控制系统及虚拟场景构成,实现了三维平动自由度和三维转动自由度的机械解耦,并通过标定修正了存在误差的机械参数,可以对末端输出反馈力稳定控制。性能试验表明:系统可以在250 mm×250 mm×250 mm的空间内精确跟踪操作人员手部位置,位置精度达到0.6 mm;可提供最大15 N的力觉反馈;在虚拟夹物体试验中,有力反馈的人机交互系统比无力反馈系统的完成时间缩短了23%,损坏率降低了50%,提高了操作精度和夹取过程的安全性。To improve the accuracy and safety of the teleoperation system of the space station manipulator,a virtual human-computer interaction system based on the hybrid 7-DOF force feedback device was designed.The system was composed of the force feedback equipment,the control system and the virtual scene.The mechanical decoupling of three-dimensional translation freedom and three-dimensional rotation freedom was realized.Moreover,the mechanical parameters could be corrected by calibration and the terminal output feedback force could be controlled stably.The performance test showed that the system could track position and orientation of the operator’s hand precisely within 250 mm×250 mm×250 mm and the tracking error was within 0.6 mm.The maximum feedback force reached 15 N.In the virtual clamping experiment,the completion time with force feedback was reduced by 23%and the damage rate was reduced by 50%as compared with that of the no feedback operation.The operation accuracy and the safety of the clamping process were improved.

关 键 词：力觉反馈 遥操作 虚拟现实 人机交互 力反馈设备 

分 类 号：V447[航空宇航科学与技术—飞行器设计] TP241[自动化与计算机技术—检测技术与自动化装置]