科学手套箱灵巧臂遥科学任务规划研究  

Research on Task Planning of Telescience for DexterousRobotic Arm in Science Glovebox

作　　者：李正[1,2] 刘晓源[1,2] 王紫阳[1,2] 张骁 李俊麟 Li Zheng;Liu Xiaoyuan;Wang Ziyang;Zhang Xiao;Li Junlin(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China)

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016 [2]中国科学院机器人与智能制造创新研究院,沈阳110169

出　　处：《航天控制》2023年第5期62-67,共6页Aerospace Control

基　　金：国家重大科技专项(Y7K3320301)。

摘　　要：结合我国空间应用信息系统特点及空间站建设,为空间机器人的遥科学任务提出一种基于时间流事件的脚本任务规划方法。设计机器人语言描述空间机器人执行的任务,通过遥编程方式进行预仿真验证并将验证后正确的脚本任务块通过IP隧道上行到空间机器人控制系统,采用可编程事件表时间驱动机制,实现空间机器人在轨自主任务执行。该方法可减少天地实时交互控制指令,避免天地通信时延问题。在空间站实验柜灵巧臂科学实验中开展仿真推演任务,满足我国空间机器人遥操作应用需求。In view of the characteristics of China’s space application information system and the construc⁃tion of space station,a kind of planning method of scripted tasks based on time flow events is proposed for the telescience missions of space robot.Robot programming language is designed to describe the tasks of space robot,the pre⁃simulation is verified by tele⁃programming and the correct scripted task block is uploaded to the space robot controller through IP tunnel communication,and event table time⁃driven mechanism is used to re⁃alize autonomous tasks for on⁃orbit space robot.This method can reduce the real⁃time interaction control in⁃structions and avoid the time delay.It meets the requirements of teleoperation of space robots when dexterous robotic arm is carrying out the task of simulation deduction in experiment cabinet of Chinese space station.

关 键 词：空间机器人 遥科学 遥操作 机器人控制 空间站 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]