宇航学报

宇航学报 ›› 2021, Vol. 42 ›› Issue (9): 1187-1196.doi: 10.3873/j.issn.1000-1328.2021.09.014

• 空间科学 • 上一篇    

一种面向在轨服务的空间遥操作人机交互方法

程瑞洲，黄攀峰，刘正雄，鹿振宇   

  1. 1. 西北工业大学航天学院智能机器人研究中心，西安 710072；2. 西北工业大学航天飞行动力学技术重点实验室，西安 710072
  • 收稿日期:2019-10-30 修回日期:2020-05-08 出版日期:2021-09-15 发布日期:2021-09-15
  • 基金资助:
    基金项目：国家杰出青年科学基金 (61725303)；载人航天领域预先研究项目（18052030101）；国家万人计划领军人才项目（W099111）

A Human robot Interaction Method of On orbit Service oriented  Space Teleoperation

CHENG Rui zhou, HUANG Pan feng, LIU Zheng xiong, LU Zhen yu   

  1. 1. Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi’an 710072, China;2. National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi’an 710072, China
  • Received:2019-10-30 Revised:2020-05-08 Online:2021-09-15 Published:2021-09-15

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摘要： 为了解决人在遥操作回路中，人与操作目标时空隔离、缺乏环境信息和天地回路大时延等实际问题，以及减少空间机器人缺乏自主智能性和操作者手抖颤等不利因素，针对空间在轨服务操作交互问题，提出一种基于增强虚拟安全通道(AVSC)的分层辅助遥操作(LAT)方法。首先，设计组合体增强虚拟安全通道，通过给主端操作者施加虚拟引导力辅助完成操作任务，与徒手操作相比，操作时间短、操作平稳；其次，设计分层辅助遥操作系统，通过获取空间机器人末端与期望轨迹上最近点之间的距离，在安全通道内划分不同的虚拟力场，辅助操作者更加灵活地操作。演示实验表明，该方法利用力触觉和视觉信息，引导操作者控制空间机器人末端运动至期望位置，可以有效地提高操作精度、减轻操作者心理压力和减少操作时间。


关键词: 空间机器人, 空间遥操作, 增强虚拟, 虚拟力触觉反馈, 人机交互

Abstract: In order to solve the practical problems of spatial temporal isolation between the operator and target, lack of environmental information and large time delay from Earth to space in the process of teleoperation, as well as the disadvantages including the lack of autonomous intelligence of the space robots and the operator’s hands tremble, a method of layered assisted teleoperation (LAT) is proposed based on the augmented virtuality security channel (AVSC) for the operation interaction of space on orbit services. Firstly, the AVSC with composite unit configuration should be designed to impose a virtual guiding force on the master operator to assist the operating duty. The operation takes less time with higher stability compared with an unarmed one. Secondly, the LAT system should be designed in a way so that different virtual force fields can be divided within the security channel to help the operator move more flexibly by obtaining the distance between the end effector of the space robot and the nearest point on the desired trajectory. The demonstration experiments show that the method, using force haptic and visual information to guide the operator to control the end effector of the space robot to the desired position, can effectively improve the operation accuracy and reduce the operator’s mental stress and operating time.


Key words: Space robot, Space teleoperation, Augmented virtuality, Virtual force haptic feedback, Human robot interaction

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