复杂大时延的多主多从共享遥操作方法  

Cooperative teleoperation for multi-master/multi-slave systems with large time-varying delays

作　　者：李文皓[1,2] 张珩 冯冠华[1,2] LI Wenhao;ZHANG Heng;FENG Guanhua(Institute of Mechanics,Chinese Academy of Sciences,Beijing 100190,China;School of Engineering Sciences,University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]中国科学院力学研究所,北京100190 [2]中国科学院大学工程科学学院,北京100049

出　　处：《航空学报》2021年第1期200-214,共15页Acta Aeronautica et Astronautica Sinica

基　　金：中国科学院战略性先导科技专项(XDA17030200);国家重点基础研究发展计划(2013CB733000);国家自然科学基金(11002143);载人航天领域预先研究项目(030601,030101)。

摘　　要：共享遥操作结合了遥操作和多机器人协调技术,是重要的空间机器人复杂任务拓展和遥操作可靠性提升方式。首先,在综述现有共享遥操作技术的基础上,利用遥操作系统的超前预报特性,提出机器人复杂大时延的共享遥操作方法,给出了多操作员多机器人(MM/MS)复杂操作系统描述模型,设计了分时树状分组策略并给出其使用的前提条件。提出了MM/MS组间共享遥操作方法、时延信息维护规则、操作请求判断和状态信息维护方法。然后,给出了相应组内共享遥操作算法。最后,以多操作员单机器人(MM/SS)共享遥操作为例,给出了简化规则,使用以某大型空间机械臂为对象的MM/SS遥操作系统进行了数字仿真实验。实验结果表明:本文方法在20s级不确定时延、操作端的交互时延与遥操作回路时延比为0~1等复杂条件下,均可实施连续稳定的遥操作。Combining teleoperation and multi-robot coordination,cooperative teleoperation is an important means to expand complex space robot tasks and improve reliability for space robot teleoperation.Based on a review of cooperative teleoperation technology,this paper first proposes the cooperative teleoperation method for robots with large time-varying delays,drawing on the advanced prediction characteristics of teleoperation systems.A description model of complex Multi-Master/Multi-Slave(MM/MS)teleoperation systems is provided,together with a tree-like timesharing grouping strategy of all operators and objects with its five prerequisites presented.The cooperative teleoperation method among groups for MM/MS systems,the maintenance rules for time delays,the maintenance method for operation request judgment and operation state,and further,the corresponding cooperative teleoperation algorithm within groups for MM/MS systems are proposed respectively.Simplified rules are provided for the representative Multi-Master/Single-Slave(MM/SS)systems,and digital simulation experiments carried out based on the MM/SS teleoperation systems for ground tests of a large space manipulator.Results show that under the 20slevel large time-varying delay,continuous and stable teleoperation can be achieved when the ratio of interaction delay among operators to the teleoperation loop delay is from 0to 1.

关 键 词：空间机器人 不确定大时延 多操作员多机器人(MM/MS) 共享遥操作 分时树状分组 

分 类 号：V476.5[航空宇航科学与技术—飞行器设计]