摘要
工作在人机交互方式下的遥操作机器人是实现空间作业的有力手段。首先介绍了空间遥操作机器人系统的构成与工作原理 ,然后提出了基于临场感遥控技术、虚拟现实技术与自主控制技术相结合的多种工作模式 ,用于实现在不同条件下时延空间遥操作机器人系统的作业任务 ,并讨论了工作模式选择的方法。
Teleoperation robot worked in man machine interface is power means to realize space operation.In this paper,composing and work principle of space teleoperation robot is introduced at first,and then many kinds of operation mode based telepresence,virtual reality and autonomous control are proposed to finish operation task of space teleoperation robot with time delay,and the method for choosing operation mode is discussed.At last,effectiveness of operation mode proposed in the paper is validated by simulate experiment system.
出处
《宇航学报》
EI
CAS
CSCD
北大核心
2003年第2期180-184,共5页
Journal of Astronautics
基金
国家教育部高等学校骨干教师资助计划资助
