摘要
为提高空间舱外双臂机器人遥操作同步过程中操作效率,提出了一种基于力引导的遥操作同步过程优化方法。通过改进的蒙特卡洛法对双臂机器人协作的工作空间进行分析,提出了一种最优协作位置预测方法,并通过力引导方式,辅助引导遥操作双臂到达最优协作位置。实验结果表明:相比于只有视觉反馈的遥操作过程,同步过程优化后到达同步工作状态的时间减少了84.26%,同步过程通过的路径长度缩短了35.43%;对比运动学引导方法,各项指标方差更小,稳定性更强。
To improve the efficiency in extravehicular dual-arm teleoperation synchronize process,an optimization method based on force guidance was put forward.Dual-arm robot collaboration work-space was analyzed using improved Monte-Carlo method and an optimized collaborating position pre-diction method was introduced.To reach the optimized collaborating position,operator was guided to teleoperate the two arms through force guidance.Experiments showed that compared to teleoperation process with visual feedback only,the operation cost 84.26%less time to establish a synchronization state,the path length within the synchronization process was reduced by 35.43%after synchroniza-tion process optimization;and had lower variance compared to KGT(Kinematic Guidance Teleopera-tion)method meaning stabler performance.
作者
汪建之
宋爱国
秦超龙
WANG Jianzhi;SONG Aiguo;QIN Chaoong(School of Instrument Science and Technology,Southeast University,Nanjing 210096,China)
出处
《载人航天》
CSCD
北大核心
2024年第3期354-363,共10页
Manned Spaceflight
基金
国防基础科研项目(No.JCKY2022110C040)
南京市科技计划项目(202208018)。
关键词
遥操作
蒙特卡洛法
位置预测
力引导
双臂
同步过程
teleoperation
Monte Carlo method
position prediction
force guidance
dual-arm
synchronization process
