带力反馈的星球探测机器人遥操作虚拟训练系统  

Teleoperation Virtual Training System For Planet Detection Robot With Force Feedback

作　　者：邵斌澄 宋爱国[1] 谭丽芬[2] 李会军[1] SHAO Bincheng;SONG Aiguo;TAN Lifen;LI Huijun(School of Instrument Science and Engineering,Southeast University,Nanjing 210096,China;National Key Laboratory of Human Factors Engineering,China Astronaut Research and Training Center,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]中国航天员科研训练中心人因工程国防科技重点实验室,北京100094

出　　处：《载人航天》2021年第6期688-695,共8页Manned Spaceflight

基　　金：国家重点研发计划项目(2017YFB1002802);人因工程国防科技重点实验室开放基金资助项目(6142222200314)。

摘　　要：针对星球探测机器人操作难度大、控制流程复杂的问题,开发了具有力觉反馈的遥操作虚拟训练系统,包括力反馈手控器和虚拟现实系统,用于训练操作,改善控制策略。虚拟场景使用Unity3D开发,以重构机器人、控制箱及环境。引入力觉反馈以增强了临场感。通过操控反馈力实验及遥操作任务实验来评估本系统,结果表明:虚拟场景计算的反馈力准确,误差小于±0.4 N;设计的地面爬坡、翻越楼梯、避障入库及机械臂抓取等遥操作任务均可有效完成。To solve the problem of difficult operation and complicated control process of the planet detection robot,a teleoperation virtual training system with force feedback was developed including a force feedback hand controller and a virtual reality system.The system was used for training operations and for improving control strategies.The virtual scene developed by Unity3D could reconstruct the robot,the control box and the environment with low cost and high efficiency.The introduction of force feedback made virtual training more realistic and reliable,and enhanced the sense of presence.The system was evaluated through the control feedback force experiment and the teleoperation task experiment.The results showed that the feedback force calculated in the virtual scene was accurate,with an error less than±0.4 N.Remote operation tasks such as climbing ramp,climbing stairs,obstacle avoidance and storage,and robotic arm grabbing could be completed effectively.

关 键 词：星球探测机器人 力反馈 虚拟现实 遥操作 Unity3D 

分 类 号：V423.6[航空宇航科学与技术—飞行器设计] TP249[自动化与计算机技术—检测技术与自动化装置]