CN109794918A - A kind of Space teleoperation system of interactive mode - Google Patents
A kind of Space teleoperation system of interactive mode Download PDFInfo
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- CN109794918A CN109794918A CN201811496030.0A CN201811496030A CN109794918A CN 109794918 A CN109794918 A CN 109794918A CN 201811496030 A CN201811496030 A CN 201811496030A CN 109794918 A CN109794918 A CN 109794918A
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Abstract
The invention discloses a kind of Space teleoperation systems of interactive mode, are related to field of aerospace technology.The system includes: main system and from system, and the main system includes: display terminal, processing terminal and force feedback equipment, it is described from system include: mechanical arm, controlling terminal and space simulation facility.Space teleoperation system provided by the invention, mechanical arm is controlled by force feedback equipment, feedback information can be felt to the true power of user, improve the perception of user, and then improve operation precision, simultaneously, it is shown by virtual scene of the display terminal to mechanical arm, it can be realized the motion state that user intuitively obtains mechanical arm in operation, compared to the method for traditional observation mechanical arm, effectively by timing_delay estimation except home loop, the time delay of force feedback equipment and display terminal i.e. in main system is minimum, it can be realized immediate feedback, and then significantly improve the stability of system.
Description
Technical field
The present invention relates to field of aerospace technology more particularly to a kind of Space teleoperation systems of interactive mode.
Background technique
Robot for space can assist the in-orbit development of scientific experiment, handle high-risk, highly difficult and mechanical repeated labor
It is dynamic, to save cost, improve task execution efficiency, application activity of expanding space.However, leading to day due to the presence of time delay
Ground control system unstability increases.
Existing remote control system, usually acquires the joint motions state of human arm by main side, and maps that
Robot from end realizes the control to robot, can not reduce influence of the time delay to system stability.
Summary of the invention
The technical problem to be solved by the present invention is in view of the deficiencies of the prior art, provide a kind of distant behaviour in space of interactive mode
Make system.
The technical scheme to solve the above technical problems is that
A kind of Space teleoperation system of interactive mode, comprising: main system and from system, the main system include: display eventually
End, processing terminal and force feedback equipment, it is described from system include: mechanical arm, controlling terminal and space simulation facility, in which:
The display terminal is used to show the virtual machine arm in virtual scene, and the force feedback equipment is for obtaining user
Operation information, the processing terminal is used to calculate the angle in each joint of the mechanical arm according to the operation information, and according to
The angle updates the end pose for the virtual machine arm that the display terminal is shown, and according to the updated end
Pose calculates the contact force that the virtual machine arm generates, and the force feedback equipment is also used to export the contact force；
The controlling terminal is used to control each joint motions of the mechanical arm according to the angle, realizes the mechanical arm
To the remote operating of the space simulation facility.
The beneficial effects of the present invention are: Space teleoperation system provided by the invention, by force feedback equipment to mechanical arm
It is controlled, and the contact force that virtual machine arm generates is calculated by processing terminal, user, energy are fed back to by force feedback equipment
It is enough to feel feedback information to the true power of user, the perception of user is improved, and then improve operation precision, meanwhile, eventually by display
End shows the virtual scene of mechanical arm, can be realized the motion state that user intuitively obtains mechanical arm in operation,
Compared to the method for traditional observation mechanical arm, effectively by timing_delay estimation except home loop, i.e., the power in main system is anti-
The time delay for presenting equipment and display terminal is minimum, can be realized immediate feedback, and then significantly improve the stability of system.
The advantages of additional aspect of the invention, will be set forth in part in the description, and will partially become from the following description
It obtains obviously, or practice is recognized through the invention.
Detailed description of the invention
Fig. 1 is the structural framing schematic diagram that the embodiment of Space teleoperation system of the present invention provides；
Fig. 2 is the virtual scene schematic diagram that the other embodiments of Space teleoperation system of the present invention provide.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and illustrated embodiment is served only for explaining the present invention,
It is not intended to limit the scope of the present invention.
As shown in Figure 1, for the structural framing schematic diagram that provides of embodiment of Space teleoperation system of the present invention, the space is distant
Operating system includes: main system 1 and from system 2, and main system 1 includes: display terminal 11, processing terminal 12 and force feedback equipment
13, it include: mechanical arm 21, controlling terminal 22 and space simulation facility from system 2, in which:
Display terminal 11 is used to show the virtual mechanical arm 21 in virtual scene, and force feedback equipment 13 is for obtaining user
Operation information, processing terminal 12 is used for according to the angle in each joint of operation information calculating machine arm 21, and is updated according to angle
The end pose for the virtual mechanical arm 21 that display terminal 11 is shown, and virtual machinery is calculated according to updated end pose
The contact force that arm 21 generates, force feedback equipment 13 are also used to export contact force；
Controlling terminal 22 is used to control each joint motions of mechanical arm 21 according to angle, realizes mechanical arm 21 to spatial simulation
The remote operating of device.
It should be understood that the operation information of user is the operation information of generation after user operates force feedback equipment 13, example
Such as, due to force feedback equipment 13 be in order to remotely control mechanical arm 21, then the operation for user for force feedback equipment 13,
It is the equal of the expectation end pose for generating mechanical arm 21, operation information can include the expectation end position of mechanical arm 21
Appearance, i.e. user are by operation force feedback equipment 13, it is expected that the pose that mechanical arm 21 moves to, can also include generating expectation end
The data such as timestamp, the identifying code of pose.
It should be noted that force feedback equipment 13 can be Geomagic Touch force feedback equipment 13, advantage is can
The six-degree of freedom position and attitude information of operator is acquired, the Three Degree Of Freedom contact force information in interactive process is fed back.
Mechanical arm 21 can be the mechanical arm 21 of seven freedom.
The software for virtual product model can be prestored in processing terminal 12, can be constructed by OSG engine.Example
Such as, which can be under the MFC frame of Visaul Studio, based on OSG engine to the mechanical arm 21 of importing and in 3Dmax
The threedimensional model for the operation scenario drawn in software is assembled, and the virtual scene of initialization is constructed.It is exported according to control module
Joint angle information 21 joint of mechanical arm in virtual scene is rendered again, realize that the dynamic of virtual scene emulation is aobvious
Show, guarantees the model in scene and the consistency of operator's movement.
The software for human-computer interaction can also be prestored in processing terminal 12, can pass through Geomagic Touch's
SDK is developed, and realizes the acquisition of pose and the output of power according to its specified interface.
The storage program of the typical action comprising pre-designed mechanical arm 21 can also be preselected in processing terminal 12,
Typical action may include: clamping, carries, screws, squeeze, and the typical action prestored by these can simplify user's
Operation.
The processing terminal 12 of main system 1 and ICP/IP protocol can be based on from the communication between the controlling terminal 22 of system 2
It realizes.
Controlling terminal 22 can be provided after the angle for receiving each joint of mechanical arm 21 based on Robai Cyton 300
Api interface realize control to mechanical arm 21.At the same time, controlling terminal 22 is also based on api interface and realizes to each pass
The acquisition of the actual angle of section, and it is back to main system 1.
Specifically, processing terminal 12, controlling terminal 22 can be the terminal devices such as computer, PLC programmable controller.
Space simulation facility be need to control mechanical arm 21 operation simulator, can according to it is actual experiment need into
Row setting.For example, when needing to simulate chemical experiment, may include station, culture dish, culture ware lid, dropper, glass bar,
Syringe and bracket etc.；It may include electric pincers, circuit board, welding gun and electronic component etc. when needing to simulate electrical engineering.
Space teleoperation system provided in this embodiment controls mechanical arm 21 by force feedback equipment 13, and leads to
It crosses processing terminal 12 and calculates the contact force that virtual mechanical arm 21 generates, user is fed back to by force feedback equipment 13, can be given
The true power of user feels feedback information, improves the perception of user, and then improve operation precision, meanwhile, pass through display terminal 11
The virtual scene of mechanical arm 21 is shown, can be realized the movement shape that user intuitively obtains mechanical arm 21 in operation
State, compared to the method for traditional observation mechanical arm 21, effectively by timing_delay estimation except home loop, i.e., in main system 1
Force feedback equipment 13 and display terminal 11 time delay it is minimum, can be realized immediate feedback, and then significantly improve the stabilization of system
Property.
Optionally, in some embodiments, operation information includes desired end pose, and processing terminal 12 is specifically used for basis
Inverse Kinematics Solution algorithm calculates desired end pose, obtains the angle in each joint of mechanical arm 21.
Optionally, in some embodiments, the angle in each joint of calculating machine arm 21 according to the following formula:
θ*=argmin (| | Xdes-X(θ)||2)
Wherein, XdesFor the expectation end pose of mechanical arm 21, X (θ) is the machine acquired by 21 positive kinematics algorithm of mechanical arm
The current end pose of tool arm 21, θ*For the angle for it is expected each joint of the corresponding mechanical arm 21 of end pose.
It should be understood that the solution of above-mentioned Inverse Kinematics Solution algorithm is realized using least square method.
Optionally, in some embodiments, the contact force that virtual mechanical arm 21 generates is calculated according to the following formula:
Wherein, F is contact force, and n is constant, and n=1.5, k are determined by the elasticity modulus and Poisson's ratio of contact material, and δ is to connect
Insert depth during touching, r are contact radius, and c is deformed recovery coefficient.
It should be noted that δ and r can be simulated by 12 pairs of contact situations of processing terminal, it is calculated corresponding
Numerical value, k, c can be obtained according to the material actually modeled.
Optionally, in some embodiments, display terminal 11 is that virtual reality shows equipment.
It should be noted that virtual reality real world devices may include VR glasses, VR helmet etc., it also may include for naked
The display of eye 3D.
It should be understood that non-real end can also be common display, the scene of simulation is shown in the display, simulation
Scene refers to the model obtained through 3D modeling.As shown in Fig. 2, a kind of illustrative virtual scene schematic diagram is given, in figure
It further include the space simulation facilities such as station 23, culture dish 24, dropper 25 including virtual mechanical arm 21.
Optionally, in some embodiments, display terminal 11 is also used to show the angle in each joint of mechanical arm 21, spatial mode
Spatial simulation environment locating for quasi- device and mechanical arm 21.
It should be noted that can be according to locating for the positional relationship of all parts in space simulation facility and mechanical arm 21
Space position, modeled by processing terminal 12, then shown by display terminal 11.
Optionally, in some embodiments, processing terminal 12 is used for the mode according to buffer queue, by angle to be sent
It is cached, and after a preset time lapses, angle is taken out from queue, be sent to controlling terminal 22.
Optionally, in some embodiments, space simulation facility includes station, culture dish, culture ware lid, dropper, glass
Glass stick, syringe and bracket.
It is appreciated that in some embodiments, may include such as implementation optional some or all of in the various embodiments described above
Mode.
Reader should be understood that in the description of this specification reference term " one embodiment ", " is shown " some embodiments "
The description of example ", " specific example " or " some examples " etc. mean specific features described in conjunction with this embodiment or example, structure,
Material or feature are included at least one embodiment or example of the invention.In the present specification, above-mentioned term is shown
The statement of meaning property need not be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described
It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
It is apparent to those skilled in the art that for convenience of description and succinctly, the dress of foregoing description
The specific work process with unit is set, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of unit, only
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.
Unit may or may not be physically separated as illustrated by the separation member, shown as a unit
Component may or may not be physical unit, it can and it is in one place, or may be distributed over multiple networks
On unit.It can select some or all of unit therein according to the actual needs to realize the mesh of the embodiment of the present invention
's.
More than, only a specific embodiment of the invention, but scope of protection of the present invention is not limited thereto, and it is any to be familiar with
Those skilled in the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or substitutions,
These modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be wanted with right
Subject to the protection scope asked.
Claims (8)
1. a kind of Space teleoperation system of interactive mode characterized by comprising main system and from system, the main system packet
Include: display terminal, processing terminal and force feedback equipment, it is described from system include: mechanical arm, controlling terminal and spatial simulation dress
It sets, in which:
The display terminal is used to show that the virtual machine arm in virtual scene, the force feedback equipment to be used to obtain the behaviour of user
Make information, the processing terminal is used to calculate the angle in each joint of the mechanical arm according to the operation information, and according to described
Angle updates the end pose for the virtual machine arm that the display terminal is shown, and according to the updated end pose
The contact force that the virtual machine arm generates is calculated, the force feedback equipment is also used to export the contact force；
The controlling terminal is used to control each joint motions of the mechanical arm according to the angle, realizes the mechanical arm to institute
State the remote operating of space simulation facility.
2. Space teleoperation system according to claim 1, which is characterized in that the operation information includes desired end position
Appearance, the processing terminal are specifically used for calculating expectation end pose according to Inverse Kinematics Solution algorithm, obtain described
The angle in each joint of mechanical arm.
3. Space teleoperation system according to claim 2, which is characterized in that calculate the mechanical arm according to the following formula
The angle in each joint:
θ*=argmin (| | Xdes-X(θ)||2)
Wherein, XdesFor the expectation end pose of the mechanical arm, X (θ) is the machine acquired by mechanical arm positive kinematics algorithm
The current end pose of tool arm, θ*For the angle in the corresponding each joint of mechanical arm of the expectation end pose.
4. Space teleoperation system according to claim 1, which is characterized in that calculate the virtual machine according to the following formula
The contact force that tool arm generates:
Wherein, F is contact force, and n is constant, and n=1.5, k are determined by the elasticity modulus and Poisson's ratio of contact material, and δ is to contact
Insert depth in journey, r are contact radius, and c is deformed recovery coefficient.
5. Space teleoperation system according to claim 1, which is characterized in that the display terminal is that virtual reality is shown
Equipment.
6. Space teleoperation system according to claim 1, which is characterized in that the display terminal is also used to show described
Spatial simulation environment locating for the angle in each joint of mechanical arm, the space simulation facility and the mechanical arm.
7. Space teleoperation system according to claim 1, which is characterized in that the processing terminal is used for according to caching team
The mode of column caches the angle to be sent, and after a preset time lapses, the angle is taken out from queue,
It is sent to the controlling terminal.
8. Space teleoperation system according to any one of claim 1 to 7, which is characterized in that the spatial simulation dress
It sets including station, culture dish, culture ware lid, dropper, glass bar, syringe and bracket.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811496030.0A CN109794918A (en) | 2018-12-07 | 2018-12-07 | A kind of Space teleoperation system of interactive mode |
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| CN201811496030.0A CN109794918A (en) | 2018-12-07 | 2018-12-07 | A kind of Space teleoperation system of interactive mode |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111113456A (en) * | 2019-12-24 | 2020-05-08 | 兰州空间技术物理研究所 | Space manipulator on-orbit operation platform and system |
| CN111444459A (en) * | 2020-02-21 | 2020-07-24 | 哈尔滨工业大学 | Method and system for determining contact force of teleoperation system |
| CN112435521A (en) * | 2020-10-27 | 2021-03-02 | 北京控制工程研究所 | Space teleoperation mechanical arm on-orbit training system and method |
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Application publication date: 20190524 |