面向空间机械臂的遥操作人-机交互系统设计  

Human-machine Interaction SystemDesign for Space-oriented Manipulator Teleoperation

作　　者：汤奇荣[1] 夏乾臣 徐宸飞 徐鹏杰 TANG Qirong;XIA Qianchen;XU Chenfei;XU Pengjie(Laboratory of Robotics and Multibody System,School of Mechanical Engi-neering,Tongji University,Shanghai 201804,China;Tsinghua University,Beijing 100084,China;National Defense Science and Technology Innova-tion Research Institute,Beijing 100071,China)

机构地区：[1]同济大学机械与能源工程学院机器人技术与多体系统实验室,上海201804 [2]清华大学,北京100084 [3]国防科技创新研究院,北京100071

出　　处：《指挥与控制学报》2022年第3期278-285,共8页Journal of Command and Control

基　　金：空间智能控制技术实验室开放基金课题(2021-JCJQ-LB-010-11)资助。

摘　　要：空间站机械臂是空间站的关键技术之一.针对太空环境中,其操纵复杂度高、操作难度大、交互效率低、限制多和天地大时延等实际问题,设计了面向空间机械臂的遥操作人机交互系统.提出并优化了一种基于Kinect相机的手势识别算法,通过骨骼跟踪与深度信息处理分类并加工识别图像,为操作者提供反馈;结合仿真软件设计了机械臂遥操作控制方案,配置微重力虚拟现实环境;结合模型预测控制,提出了一种基于状态预报的遥操作时延控制方案.仿真实验验证表明,该方法利用手势交互的视觉反馈与虚拟状态预测,可引导操作者在微重力下控制机械臂抓取并移动物体,实现人在回路的空间机械臂遥操作控制,有效降低了时延.Space station manipulators are one of the important technology for space stations.For such practical problems as high complexity and difficulty of control,low interaction efficiency,many limitations and large time delay between heave and earth,etc.in space environment a human-machine interaction system for space manipulator teleoperation is designed.First,the gesture recognition algorithm is proposed and improved based on Kinect camera.The images are processed and recognized through skeleton tracking and deep processing and classification of information to provide feedback for the operators.Then the remote control schemes of manipulators are designed combined with simulation software.The micrograuity virtual reality environment is configured.The teleoperation time day control scheme based on the state forecast is proposed combined with model prediction and control.The simulation experiments show that the method utilizes the visual feedback and virtual state prediction of gesture interaction and can guide the operators to control the manipulators to grasp and move the objects under the microgravity.It can realize the teleoperation of space manipulators for human in the loop and can reduce the time delay effectwely.

关 键 词：遥操作 空间机械臂 手势识别 模型预测控制 时延问题 虚拟现实技术 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TP391.41[自动化与计算机技术—控制科学与工程]