CN116214549B - Teleoperation system and teleoperation method for space robot - Google Patents
Teleoperation system and teleoperation method for space robot Download PDFInfo
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- CN116214549B CN116214549B CN202310078157.5A CN202310078157A CN116214549B CN 116214549 B CN116214549 B CN 116214549B CN 202310078157 A CN202310078157 A CN 202310078157A CN 116214549 B CN116214549 B CN 116214549B
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- 230000009471 action Effects 0.000 claims abstract description 39
- 238000004891 communication Methods 0.000 claims abstract description 18
- 238000013507 mapping Methods 0.000 claims abstract description 16
- 210000000245 forearm Anatomy 0.000 claims description 68
- 210000000707 wrist Anatomy 0.000 claims description 60
- 239000011159 matrix material Substances 0.000 claims description 36
- 150000001875 compounds Chemical class 0.000 claims description 16
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
- B64G2004/005—Robotic manipulator systems for use in space
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Automation & Control Theory (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a teleoperation system and a teleoperation method for a space robot. The teleoperation system comprises a ground section module, a space section module and a communication module, wherein the ground section module comprises a pose acquisition device for acquiring operator action information of an operator, and the operator action information at least comprises hand pose data and arm pose data; the communication module is used for sending the action information of the operator to the space segment module; the space segment module includes a satellite platform, a manipulator, and a robotic arm, the satellite platform including a balance wheel device and a controller configured to: and mapping the manipulator motion of the manipulator and the manipulator movement instruction according to the manipulator pose data, mapping the manipulator motion of the manipulator and the manipulator movement instruction according to the arm pose data, and controlling the balance wheel device to balance the moment of the satellite platform during the manipulator and the manipulator execute the manipulator movement instruction and the manipulator movement instruction respectively so as to maintain the conservation of angular momentum of the satellite platform.
Description
Technical Field
The invention mainly relates to the field of spacecrafts, in particular to a teleoperation system and a teleoperation method for a space robot.
Background
The space robot is key equipment in space station construction and maintenance, satellite on-orbit service and other applications, and can perform various tasks of spacecraft assembly, disassembly, maintenance, repair and the like on orbit. Currently, motion control for space robots can be performed in a teleoperation manner. The teleoperation technology is to remotely control the space robot by a ground operator, so that the space robot can finish a specific on-orbit operation task. Most of the existing space robots can finish actions with larger action amplitude and larger required force like clamping, and for finer actions like screwing screws, stripping multiple layers and the like, the required control precision is high and the difficulty is high. In addition, when the space robot executes an operation task, the large-amplitude rapid movement of the mechanical arm can drive the satellite to rotate, so that the satellite is out of control or the space position is disordered, and the on-orbit operation can not be normally executed. Therefore, how to enable the space robot to stably perform the fine motion task on the track is a problem to be solved in the field of space robot control.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a teleoperation system and a teleoperation method for a space robot, which can realize on-orbit stable fine action execution.
In order to solve the technical problems, the invention provides a teleoperation system for a space robot, which comprises a ground section module, a space section module and a communication module, wherein the ground section module comprises a pose acquisition device, the pose acquisition device is used for acquiring operator action information of an operator, and the operator action information at least comprises hand pose data and arm pose data; the communication module is used for sending the operator action information to the space segment module; the space segment module includes a satellite platform including a balance wheel device for balancing a moment of the satellite platform and a controller configured to: and mapping manipulator actions and resolving manipulator movement instructions of the manipulator according to the manipulator pose data, mapping manipulator actions and resolving manipulator movement instructions of the manipulator according to the arm pose data, and controlling the balance wheel device to balance the moment of the satellite platform during the manipulator and the manipulator execute the manipulator movement instructions and the manipulator movement instructions respectively so as to maintain the conservation of angular momentum of the satellite platform.
In an embodiment of the present application, the pose acquisition device includes a finger sensor for acquiring the hand pose data.
In an embodiment of the present application, the pose acquisition device includes an arm motion sensor, and the arm motion sensor is used for acquiring the arm pose data.
In an embodiment of the present application, the arm motion sensor includes any one of a wrist motion sensor, a forearm motion sensor, and a forearm motion sensor, where the wrist motion sensor is used to collect wrist pose data, the forearm motion sensor is used to collect forearm pose data, and the forearm motion sensor is used to collect forearm pose data.
In an embodiment of the present application, when the operator performs a non-compound motion with only one motion of the large arm, the small arm, and the wrist, the controller maps the arm pose data and the arm motion of the arm and the arm motion command according to the following mapping relationship:
| arm pose data | Mechanical arm joint angle |
| δ Roll | θ 1 |
| δ Yaw | θ 2 |
| δ Pitch | θ 3 |
| φ Yaw | θ 4 |
| φ Pitch | θ 5 |
| ε Roll | θ 6 |
Wherein delta Roll 、δ Yaw 、δ Pitch Respectively the roll angle, yaw angle and pitch angle phi in the pose data of the large arm Yaw 、φ Pitch Respectively yaw angle and pitch angle epsilon in the forearm pose data Roll Is the roll angle theta in the wrist pose data 1 、θ 2 、θ 3 、θ 4 、θ 5 、θ 6 The mechanical arm comprises six joint angles of the mechanical arm respectively, and the mechanical arm movement instruction comprises the six joint angles.
In an embodiment of the present application, when the operator performs a compound motion of at least 2 simultaneous motions of the large arm, the small arm and the wrist, the controller maps the arm pose data and the arm motion of the arm and decodes the arm movement command according to the following steps: rolling angle delta in the pose data of the large arm Roll Yaw angle delta Yaw And pitch delta Pitch Respectively used as a first joint angle theta of the mechanical arm 1 Second joint angle theta 2 Angle of third joint theta 3 The method comprises the steps of carrying out a first treatment on the surface of the Solving for Q 2 ＝Q 1 ·Q 12 Obtaining the roll angle phi 'in the forearm pose data' Roll Yaw angle phi' Yaw Pitch angle phi' Pitch Phi 'is phi' Yaw Fourth joint angle θ as the mechanical arm 4 Phi 'is phi' Pitch A fifth joint angle theta as the mechanical arm 5 Wherein Q is 1 Is the attitude angle matrix measured by the large arm motion sensor, Q 2 Is the attitude angle matrix measured by the forearm motion sensor, Q 12 Is a transformation matrix of the small arm relative to the large arm end coordinate system; solving for Q 3 ＝Q 2 ·Q 23 Obtaining the roll angle epsilon 'in the wrist pose data' Roll Yaw angle epsilon' Yaw Pitch angle epsilon' Pitch Will epsilon' Roll As the sixth joint angle theta of the mechanical arm 6 Wherein Q is 2 Is the attitude angle matrix measured by the forearm motion sensor, Q 3 Is the attitude angle matrix measured by the wrist motion sensor, Q 23 Is a transformation matrix of the wrist with respect to the forearm end coordinate system.
In an embodiment of the present application, the step of controlling the balance wheel device to balance the moment of the satellite platform during the robot arm and the robot arm execute the robot arm movement command and the robot arm movement command, respectively, includes: the mechanical arm moving instruction in the current moving instruction period is calculated; calculating the three-axis moment change of the whole star caused by the movement of the mechanical arm; calculating the angular momentum balance required for counteracting the three-axis moment variation of the whole star; and controlling the balance wheel device to perform the angular momentum balance.
In an embodiment of the present application, the pose acquisition device further includes at least one image acquisition device, where the image acquisition device is configured to acquire a motion image of the operator, the motion image includes hand refinement motion information and arm spatial position information of the operator, and the operator motion information further includes the motion image; the controller is further configured to: and adjusting the hand pose data and the arm pose data according to the action image.
The application also provides a teleoperation method of the space robot for solving the technical problems, which comprises the following steps: acquiring hand pose data and arm pose data of an operator; the hand pose data and the arm pose data are sent to a satellite platform, a manipulator and a mechanical arm are arranged on the satellite platform, and the satellite platform comprises a balance wheel device and a controller; and the controller maps the manipulator motion and the manipulator motion instruction of the manipulator according to the manipulator pose data, maps the manipulator motion and the manipulator motion instruction of the manipulator according to the arm pose data, and controls the balance wheel device to balance the moment of the satellite platform during the manipulator and the manipulator execute the manipulator motion instruction and the manipulator motion instruction respectively so as to maintain the conservation of angular momentum of the satellite platform.
In an embodiment of the present application, the arm pose data includes any of wrist pose data, forearm pose data, and forearm pose data.
In an embodiment of the present application, when the operator performs a non-compound motion with only one motion of the large arm, the small arm, and the wrist, the controller maps the arm pose data and the arm motion of the arm and the arm motion command according to the following mapping relationship:
| Arm pose data | Mechanical arm joint angle |
| δ Roll | θ 1 |
| δ Yaw | θ 2 |
| δ Pitch | θ 3 |
| φ Yaw | θ 4 |
| φ Pitch | θ 5 |
| ε Roll | θ 6 |
Wherein delta Roll 、δ Yaw 、δ Pitch Respectively the roll angle, yaw angle and pitch angle phi in the pose data of the large arm Yaw 、φ Pitch Respectively yaw angle and pitch angle epsilon in the forearm pose data Roll Is the roll angle theta in the wrist pose data 1 、θ 2 、θ 3 、θ 4 、θ 5 、θ 6 The mechanical arm comprises six joint angles of the mechanical arm respectively, and the mechanical arm movement instruction comprises the six joint angles.
In an embodiment of the present application, when the operator performs a compound motion of at least 2 simultaneous motions of the large arm, the small arm and the wrist, the controller maps the arm pose data and the arm motion of the arm and decodes the arm movement command according to the following steps: rolling angle delta in the pose data of the large arm Roll Yaw angle delta Yaw And pitch delta Pitch Respectively used as a first joint angle theta of the mechanical arm 1 Second joint angle theta 2 Angle of third joint theta 3 The method comprises the steps of carrying out a first treatment on the surface of the Solving for Q 2 ＝Q 1 ·Q 12 Obtaining the roll angle phi 'in the forearm pose data' Roll Yaw angle phi' Yaw Pitch angle phi' Pitch Phi 'is phi' Yaw Fourth joint angle θ as the mechanical arm 4 Phi 'is phi' Pitch A fifth joint angle theta as the mechanical arm 5 Wherein Q is 1 Is the attitude angle matrix measured by the large arm motion sensor, Q 2 Is the attitude angle matrix measured by the forearm motion sensor, Q 12 Is a transformation matrix of the small arm relative to the large arm end coordinate system; solving for Q 3 ＝Q 2 ·Q 23 Obtaining the roll angle epsilon 'in the wrist pose data' Roll Yaw angleε′ Yaw Pitch angle epsilon' Pitch Will epsilon' Roll As the sixth joint angle theta of the mechanical arm 6 Wherein Q is 2 Is the attitude angle matrix measured by the forearm motion sensor, Q 3 Is the attitude angle matrix measured by the wrist motion sensor, Q 23 Is a transformation matrix of the wrist with respect to the forearm end coordinate system.
In an embodiment of the present application, the step of controlling the balance wheel device to balance the moment of the satellite platform during the robot arm and the robot arm execute the robot arm movement command and the robot arm movement command, respectively, includes: the mechanical arm moving instruction in the current moving instruction period is calculated; calculating the three-axis moment change of the whole star caused by the movement of the mechanical arm; calculating the angular momentum balance required for counteracting the three-axis moment variation of the whole star; and controlling the balance wheel device to perform the angular momentum balance.
According to the teleoperation system and the teleoperation method, the mapping and the resolving of the hand pose data and the arm pose data from an operator can obtain fine mechanical arm actions, and the adaptive balance wheel device is controlled according to the spatial characteristics, so that the angular momentum conservation of the whole satellite can be maintained in time and in real time when the space robot performs the operation, and the space robot can stably perform the fine actions on the orbit.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the principles of the invention. In the accompanying drawings:
FIG. 1 is an exemplary block diagram of a teleoperational system for a space robot according to one embodiment of the present application;
FIG. 2 is a schematic diagram of a teleoperational system for a space robot according to one embodiment of the present application;
fig. 3 is an exemplary flow chart of a teleoperation method of a space robot according to an embodiment of the present application.
Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are used in the description of the embodiments will be briefly described below. It is apparent that the drawings in the following description are only some examples or embodiments of the present application, and it is obvious to those skilled in the art that the present application may be applied to other similar situations according to the drawings without inventive effort. Unless otherwise apparent from the context of the language or otherwise specified, like reference numerals in the figures refer to like structures or operations.
As used in this application and in the claims, the terms "a," "an," "the," and/or "the" are not specific to the singular, but may include the plural, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that the steps and elements are explicitly identified, and they do not constitute an exclusive list, as other steps or elements may be included in a method or apparatus.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In addition, the terms "first", "second", etc. are used to define the components, and are merely for convenience of distinguishing the corresponding components, and unless otherwise stated, the terms have no special meaning, and thus should not be construed as limiting the scope of the present application. Furthermore, although terms used in the present application are selected from publicly known and commonly used terms, some terms mentioned in the specification of the present application may be selected by the applicant at his or her discretion, the detailed meanings of which are described in relevant parts of the description herein. Furthermore, it is required that the present application be understood, not simply by the actual terms used but by the meaning of each term lying within.
Flowcharts are used in this application to describe the operations performed by systems according to embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed in order precisely. Rather, the various steps may be processed in reverse order or simultaneously. At the same time, other operations are added to or removed from these processes.
The teleoperation system and the teleoperation method for the space robot can be applied to any satellite platform with the space robot, and the type, the size and the application of the satellite platform are not limited.
Fig. 1 is an exemplary block diagram of a teleoperational system for a space robot according to an embodiment of the present application. Referring to fig. 1, teleoperation system 100 of this embodiment includes a ground section module 110, a space section module 120, and a communication module 13. The ground section module 110 comprises a pose acquisition device 111, wherein the pose acquisition device 111 is used for acquiring operator action information of an operator, and the operator action information at least comprises hand pose data and arm pose data; the communication module 13 is used for sending the operator action information to the space segment module 120; the space segment module 120 includes a satellite platform 130, a robot 140, and a robot arm 150, the satellite platform 130 including a balance wheel device 131 and a controller 132, the balance wheel device 131 being configured to balance a moment of the satellite platform 130, the controller 132 being configured to: according to the manipulator motion and the resolving manipulator movement instruction of the manipulator 140 mapped by the manipulator pose data, and according to the manipulator motion and the resolving manipulator movement instruction of the manipulator 150 mapped by the arm pose data, the balance wheel device 131 is controlled to balance the moment of the satellite platform 130 during the manipulator 140 and the manipulator 150 respectively execute the manipulator movement instruction and the manipulator movement instruction, so as to maintain the conservation of angular momentum of the satellite platform.
Fig. 2 is a schematic diagram of a teleoperation system for a space robot according to an embodiment of the present application, in which an operator R in a specific ground segment module 110 and a satellite platform 230, a manipulator 240 and a manipulator arm 250 in a space segment module 120 are shown to more visually illustrate the teleoperation system 100 of the present application. As shown in fig. 1 and 2 in combination, the ground segment module 110 is disposed on the ground, and in the embodiment shown in fig. 2, the pose acquisition device 111 specifically includes a finger sensor 210 for acquiring hand pose data, and an arm motion sensor 220 for acquiring arm pose data.
The hand pose data may include a spatial position (XYZ three-axis coordinate system) and a posture (three-degree-of-freedom rotation angle) of each finger joint, and the arm pose data includes a spatial position (XYZ three-axis coordinate system) and a posture (three-degree-of-freedom rotation angle) of the large arm, the small arm, the elbow joint, and the like.
In some embodiments, the finger sensor 210 is a data glove. In other embodiments, the finger sensor 210 may be a patch sensor attached to each joint of the finger.
In some embodiments, the arm motion sensor 220 is a data arm collar that can be fitted over the arm. In other embodiments, the arm motion sensor 220 may be a patch sensor attached to the arm at various locations or joints.
Still further, the arm motion sensor 220 includes any one of a wrist motion sensor 221, a forearm motion sensor 222, and a forearm motion sensor 223, the wrist motion sensor 221 is configured to collect wrist pose data, the forearm motion sensor 222 is configured to collect forearm pose data, and the forearm motion sensor 223 is configured to collect forearm pose data. In the embodiment shown in fig. 2, a wrist motion sensor 221, a forearm motion sensor 222, and a forearm motion sensor 223 are included, which may be a wrist collar, a forearm collar, and a forearm collar, respectively. For the operator R, the arm of the human bodyTypically 7 degrees of freedom, including 3 degrees of freedom in the shoulder, 1 degree of freedom in the elbow, and 3 degrees of freedom in the wrist, the pose of the large arm, the small arm, and the wrist can be acquired simultaneously using the arm motion sensor 220 including the wrist motion sensor 221, the small arm motion sensor 222, and the large arm motion sensor 223. The acquired attitude information is expressed in the form of attitude angle (or Euler angle), and is described by using Roll angle (Roll), pitch angle (Pitch) and Yaw angle (Yaw), and the arm attitude information is defined as delta respectively Roll 、δ Pitch 、δ Yaw The arm posture information is phi respectively Roll 、φ Pitch 、φ Yaw The wrist posture information is epsilon respectively Roll 、ε Pitch 、ε Yaw 。
In the actual motion of the human arm, the amplitude of the left-right swing of the palm is small, so that the degree of freedom of the wrist is considered to be 2 by adopting simplified processing.
The number of wrist motion sensors 221, forearm motion sensors 222, and forearm motion sensors 223 is not limited in this application. The embodiment shown in fig. 2 includes 2 sets of finger sensors 210 and arm motion sensors 220 respectively sleeved on the two hands and the two arms of the operator R, so that the operator motion information of the two hands and the two arms of the operator R can be obtained simultaneously.
The specific positions of the wrist motion sensor 221, the forearm motion sensor 222, and the forearm motion sensor 223 on the arm are not limited to those shown in fig. 2. The position of these collars can be set according to the characteristics of the sensor and the actual requirements.
As shown in fig. 2, in some embodiments, the pose acquisition device 111 further includes at least one image acquisition device 211, where the image acquisition device 211 is configured to acquire a motion image of the operator R, where the motion image includes hand refinement motion information and arm spatial position information of the operator, and where the operator motion information further includes a motion image. In fig. 2, 2 image capturing devices 211 are shown, and in particular, the image capturing devices 211 may be any device that can obtain an image, such as a camera. The motion image, in particular the high-resolution motion image, can realize finer positioning of the motion of the hands and arms of the human body, so that the position precision reaches millimeter level, the angle precision reaches 0.1 degree, and finer motion can be captured. As shown in fig. 2, the provision of 2 image pickup devices 211 in front of the operator R can form binocular vision matching, which is mapped to 2 robot arms 250 and 2 robot arms, so that various stereoscopic fine motions can be more precisely accomplished.
In some embodiments, the controller 132 is further configured to: and adjusting the hand pose data and the arm pose data according to the motion image. According to this embodiment, the action image is sent to the spatial segment module 120 through the communication module 13, and the step of data processing is performed by the controller 132 on the satellite.
As shown in fig. 2, the space segment module 120 includes a satellite platform 230, 2 robots 240, and 2 robots 250. The robotic arm 250 is disposed on the housing of the satellite platform 230. The specific location of the robotic arm 250 on the satellite platform 230 is not limited in this application. The robotic arm 250 may be a six-axis robotic arm that is movable in six degrees of freedom, including 6 joints. The joint angles of the 6 joints of the mechanical arm are respectively defined as a first joint angle theta 1 Second joint angle theta 2 Angle of third joint theta 3 Fourth joint angle θ 4 Fifth joint angle theta 5 Angle theta of sixth joint 6 . The robot 240 is disposed at the front end of the robot arm 250 as a specific actuator. To simulate a human hand performing fine movements, each manipulator 240 also has 5 mechanical fingers, each having at least one joint, for simulating a human finger.
In fig. 2, 2 antennas 160 are shown, symmetrically arranged on the housing of the satellite platform 230. Referring to fig. 1, in fig. 2, both the balance wheel device 131 and the controller 132 may be disposed inside the satellite platform 130.
The ground segment module 110 and the space segment module 120 adopt a wireless communication mode to conduct information interaction. The communication module 13 may include a ground communication device disposed in the ground segment module 110 and a space communication device disposed in the space segment module 120. The ground communication device is used for sending operator action information to the space segment module 120; the spatial communication device may be located anywhere on the satellite platform 230 for receiving information from the terrestrial communication device. The specific communication mode and related devices are not limited in this application.
The present application does not limit the teleoperation actions to be performed by the operator. The present application classifies teleoperation actions into two categories, namely compound motion and non-compound motion. A compound motion is defined as at least 2 simultaneous movements of the forearm, forearm and wrist at a time. Accordingly, non-compound motion is defined as when only one of the large arm, small arm, and wrist is in motion and the remaining 2 are in rest at a certain moment. Based on the above classification, the teleoperation system 100 of the present application sets the mapping mode of the manipulator pose data of the manipulator and the manipulator of the manipulator separately according to the composite motion and the non-composite motion by the controller 132.
In some embodiments, when the operator R performs a non-compound motion, the controller 132 maps the arm pose data and the arm motion of the arm and the decoded arm movement instructions according to the following mapping relationship:
| arm pose data | Mechanical arm joint angle |
| δ Roll | θ 1 |
| δ Yaw | θ 2 |
| δ Pitch | θ 3 |
| φ Yaw | θ 4 |
| φ Pitch | θ 5 |
| ε Roll | θ 6 |
Wherein delta Roll 、δ Yaw 、δ Pitch The roll angle, yaw angle and pitch angle in the pose data of the big arm are respectively phi Yaw 、φ Pitch Respectively yaw angle and pitch angle epsilon in forearm pose data Roll Is the roll angle, theta, in the wrist pose data 1 、θ 2 、θ 3 、θ 4 、θ 5 、θ 6 Six joint angles of the mechanical arm are respectively adopted. According to the embodiments, only some of the arm pose data, namely delta, is used Roll 、δ Yaw 、δ Pitch 、φ Yaw 、φ Pitch 、ε Roll The six joint angles of the robot arm 250 can be calculated. The arm movement command includes the six joint angles, so that the arm 250 moves according to the arm movement command.
In some embodiments, when the operator R performs the compound motion, the controller 132 maps the arm pose data and the arm motion of the arm and the decoded arm movement instructions according to the following steps:
step S101: roll angle delta in the pose data of the large arm Roll Yaw angle delta Yaw And pitch delta Pitch Respectively as a first joint angle theta of the mechanical arm 1 Second joint angle theta 2 Angle of third joint theta 3 ；
Step S102: solving for Q 2 ＝Q 1 ·Q 12 Obtaining the roll angle phi 'in the forearm pose data' Roll Yaw angle phi' Yaw Pitch angle phi' Pitch Phi 'is phi' Yaw Fourth joint angle θ as a robotic arm 4 Phi 'is phi' Pitch Fifth joint angle θ as a robotic arm 5 Wherein Q is 1 Is an attitude angle matrix measured by a large arm motion sensor, Q 2 Is an attitude angle matrix measured by a forearm motion sensor, Q 12 Is a transformation matrix of the small arm relative to the large arm end coordinate system;
step S103: solving for Q 3 ＝Q 2 ·Q 23 Obtaining the roll angle epsilon 'in the wrist pose data' Roll Yaw angle epsilon' Yaw Pitch angle epsilon' Pitch Will epsilon' Roll Sixth joint angle θ as a robotic arm 6 Wherein Q is 2 Is an attitude angle matrix measured by a forearm motion sensor, Q 3 Is the attitude angle matrix measured by the wrist motion sensor, Q 23 Is a transformation matrix of the wrist with respect to the forearm end coordinate system.
In the compound motion, the moving datum point of the large arm is consistent with the base of the mechanical arm, so that the attitude angle of the large arm is the first joint angle theta of the mechanical arm 1 Second joint angle theta 2 Angle of third joint theta 3 . The motion attitude angle of the small arm is influenced by the attitude of the large arm, and the small arm and the large arm are in coupling relation, so that the Q is solved 2 ＝Q 1 ·Q 12 To obtain the forearm attitude angle. The wrist is coupled with the forearm, thus by solving for Q 3 ＝Q 2 ·Q 23 To obtain the wrist attitude angle.
The six joint angles θ of the mechanical arm are calculated by the above step S101 1 、θ 2 、θ 3 、θ 4 、θ 5 、θ 6 And as a robot arm movement command, the robot arm 250 is moved in accordance with the robot arm movement command.
With respect to fine movements of the hand, with reference to fig. 2, the finger sensor 210 may be employed to obtain the degree of finger bending and spatial position of the operator R, and send these data to the manipulator 240. Each of the mechanical fingers on the manipulator 240 may have 6 degrees of freedom, wherein the bending degree of the human finger and the spatial position of each finger may be obtained by the finger sensor 210, and the bending degree and the spatial position of each finger are used as a movement instruction of each mechanical finger, so that the manipulator may follow the hand action of the operator R.
According to the hand pose data and the arm pose data, mapping and resolving are carried out to obtain a manipulator movement instruction and a manipulator movement instruction, so that the manipulator and the manipulator respectively follow the actual actions of an operator R, and teleoperation of the space robot is realized. However, when the space robot performs some large actions, the rotation of the satellite platform and the whole satellite may be caused, so that the space position of the whole satellite is unbalanced. Accordingly, the present application also controls the balance wheel device 131 in the satellite platform 130 through the controller 132, and during the movement instruction execution of the manipulator 240 and the mechanical arm 250, the balance wheel device 131 is operated to balance the moment of the satellite platform, so as to maintain the conservation of angular momentum of the whole satellite.
The specific structure of the balance wheel device 131 is not limited in this application. In some embodiments, the balance wheel arrangement 131 may comprise at least one balance wheel, as well as some reaction wheels, rotating bodies or the like for cooperation with the balance wheel. The balance wheel can be a momentum wheel, a certain included angle is formed between the rotating shaft of the balance wheel and the rotating shaft of the rotating component, and the angular momentum of the rotating component is adjusted by adjusting the rotating speed of the balance wheel so as to obtain conservation of the angular momentum of the whole star.
In some embodiments, the step of controlling the balance wheel device 131 by the controller 132 during the robot 240 and the robot arm 250 executing the robot movement command and the robot arm movement command, respectively, includes:
step S201: the mechanical arm moving instruction in the current moving instruction period is calculated;
step S202: calculating the whole star triaxial moment change caused by the movement of the mechanical arm 250;
step S203: calculating the angular momentum balance required for counteracting the triaxial moment variation of the whole star; and
step S204: the balance wheel device 131 is controlled to perform the angular momentum balance.
In step S201, the movement instruction period may be a preset parameter, and may be a fixed value; or the length of time it takes for a series of moving actions formulated according to the task is a dynamically changing value.
In step S202, the controller 132 may calculate the whole star triaxial moment variations according to the arm motion or the arm movement command. Compared with mechanical hand operation, the mechanical arm operation has larger relative amplitude, so the mechanical arm operation can be ignored, and the whole star triaxial moment change is obtained by only adopting the mechanical arm operation.
In other embodiments, the whole star three-axis moment change may be calculated according to the robot arm action and the robot arm action together at step S202.
In step S203, the present application does not limit how the angular momentum balance is calculated.
Through the above steps S201 to S203, the balance wheel device 131 does not interfere with the movement of the manipulator 240 and the manipulator 250, but adjusts the operation state of the star so that the movement of the manipulator 240 and the manipulator 250 is consistent with the ground operation, thereby reducing the complexity of system control.
In some embodiments, there may be a certain time difference between the ground segment operator motion and the space segment robot motion, so that the controller may obtain the operator motion information in advance in a future period of the movement command period, and calculate the corresponding mechanical arm motion and mechanical arm motion according to the operator motion information, and execute steps S201 to S203, so that the angular momentum balance required for counteracting the whole star triaxial moment variation may be obtained in advance, and the balance wheel device 131 is controlled to perform the angular momentum balance when the mechanical arm and the mechanical arm perform the related motion, thereby achieving real-time conservation of angular momentum. According to these embodiments, the controller 132 actively matches the attitude of the whole satellite with the spatial movement of the robotic arm 250 by controlling the balance wheel device 131, thereby maintaining conservation of angular momentum of the satellite.
According to the teleoperation system, through mapping and resolving of hand pose data and arm pose data from an operator, fine mechanical arm actions can be obtained, and the balance wheel device with the self-adaptive characteristic is controlled according to the space characteristics, so that angular momentum conservation of the whole star can be maintained in time and in real time when the space robot performs operation, and the space robot can stably perform the fine actions on orbit.
Fig. 3 is an exemplary flow chart of a teleoperation method of a space robot according to an embodiment of the present application. The teleoperation system described above may be used to perform the teleoperation method, and thus, the foregoing description may be used to describe the teleoperation method, and the same will not be expanded. Referring to fig. 3, the teleoperation method of this embodiment includes the steps of:
step S310: acquiring hand pose data and arm pose data of an operator;
step S320: transmitting the hand pose data and the arm pose data to a satellite platform, wherein a manipulator and a mechanical arm are arranged on the satellite platform, and the satellite platform comprises a balance wheel device and a controller; and
step S330: the controller maps the manipulator motion and the manipulator movement instruction of the manipulator according to the manipulator pose data, maps the manipulator motion and the manipulator movement instruction of the manipulator according to the arm pose data, and controls the balance wheel device to balance the moment of the satellite platform during the manipulator and the manipulator execute the manipulator movement instruction and the manipulator movement instruction respectively so as to maintain the conservation of angular momentum of the satellite platform.
In step S310, the teleoperation method does not limit how the acquisition is performed. The pose acquisition device 111 in teleoperation system 100 described above may be employed for acquisition.
In step S320, the teleoperation method does not limit how data is transmitted to the satellite platform. Communication module 13 in teleoperational system 100 as described previously may be employed to transmit data.
The satellite platform, the robot, the arm, the balance wheel device, and the controller in step S320 and step S330 may be the satellite platform 130, the robots 140, 240, the arms 150, 250, the balance wheel device 131, and the controller 132 described above.
Further, the arm pose data includes any one of wrist pose data, forearm pose data, and forearm pose data.
In some embodiments, in step S310, when the operator performs a non-compound motion with only one motion of the large arm, the small arm, and the wrist, the controller maps the arm pose data and the arm motion of the arm and the arm movement command according to the following mapping relationship:
| arm pose data | Mechanical arm joint angle |
| δ Roll | θ 1 |
| δ Yaw | θ 2 |
| δ Pitch | θ 3 |
| φ Yaw | θ 4 |
| φ Pitch | θ 5 |
| ε Roll | θ 6 |
Wherein delta Roll 、δ Yaw 、δ Pitch The roll angle, yaw angle and pitch angle in the pose data of the big arm are respectively phi Yaw 、φ Pitch Respectively yaw angle and pitch angle epsilon in forearm pose data Roll Is the roll angle, theta, in the wrist pose data 1 、θ 2 、θ 3 、θ 4 、θ 5 、θ 6 The mechanical arm comprises six joint angles of the mechanical arm respectively, and the mechanical arm moving instruction comprises six joint angles.
In some embodiments, in step S310, when the operator performs a compound motion of at least 2 simultaneous motions of the large arm, the small arm, and the wrist, the controller maps the arm pose data and the robot motion of the robot and the robot movement command according to the following steps:
step S311: roll angle delta in the pose data of the large arm Roll Yaw angle delta Yaw And pitch delta Pitch Respectively as a first joint angle theta of the mechanical arm 1 Second joint angle theta 2 Angle of third joint theta 3 ；
Step S312: solving for Q 2 ＝Q 1 ·Q 12 Obtaining the roll angle phi 'in the forearm pose data' Roll Yaw angle phi' Yaw Pitch angle phi' Pitch Phi 'is phi' Yaw Fourth joint angle θ as a robotic arm 4 Phi 'is phi' Pitch Fifth joint angle θ as a robotic arm 5 Wherein Q is 1 Is an attitude angle matrix measured by a large arm motion sensor, Q 2 Is an attitude angle matrix measured by a forearm motion sensor, Q 12 Is a transformation matrix of the small arm relative to the large arm end coordinate system;
step S313: solving for Q 3 ＝Q 2 ·Q 23 Obtaining the roll angle epsilon 'in the wrist pose data' Roll Yaw angle epsilon' Yaw Pitch angle epsilon' Pitch Will epsilon' Roll As the sixth joint angle theta of the mechanical arm 6 Wherein Q is 2 Is the attitude angle matrix measured by the forearm motion sensor, Q 3 Is the wrist motion sensor measurementAn angular matrix of orientations, Q 23 Is a transformation matrix of the wrist with respect to the forearm end coordinate system.
In some embodiments, in step S310, the step of controlling the balance wheel device to balance the moment of the satellite platform during the robot and the robot arm respectively perform the robot movement command and the robot arm movement command includes:
step S314: the mechanical arm moving instruction in the current moving instruction period is calculated;
step S315: calculating the whole star triaxial moment change caused by the movement of the mechanical arm;
step S316: calculating the angular momentum balance required for counteracting the triaxial moment variation of the whole star; and
step S317: and controlling the balance wheel device to perform angular momentum balance.
By adopting the teleoperation method, the space robot can stably execute fine actions on the track.
While the basic concepts have been described above, it will be apparent to those skilled in the art that the above disclosure is by way of example only and is not intended to be limiting. Although not explicitly described herein, various modifications, improvements, and adaptations of the present application may occur to one skilled in the art. Such modifications, improvements, and modifications are intended to be suggested within this application, and are therefore within the spirit and scope of the exemplary embodiments of this application.
Meanwhile, the present application uses specific words to describe embodiments of the present application. Reference to "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic is associated with at least one embodiment of the present application. Thus, it should be emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various positions in this specification are not necessarily referring to the same embodiment. Furthermore, certain features, structures, or characteristics of one or more embodiments of the present application may be combined as suitable.
Likewise, it should be noted that in order to simplify the presentation disclosed herein and thereby aid in understanding one or more inventive embodiments, various features are sometimes grouped together in a single embodiment, figure, or description thereof. This method of disclosure, however, is not intended to imply that more features than are presented in the claims are required for the subject application. Indeed, less than all of the features of a single embodiment disclosed above.
In some embodiments, numbers describing the components, number of attributes are used, it being understood that such numbers being used in the description of embodiments are modified in some examples by the modifier "about," approximately, "or" substantially. Unless otherwise indicated, "about," "approximately," or "substantially" indicate that the number allows for a 20% variation. Accordingly, in some embodiments, numerical parameters set forth in the specification and claims are approximations that may vary depending upon the desired properties sought to be obtained by the individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and employ a method for preserving the general number of digits. Although the numerical ranges and parameters set forth herein are approximations that may be employed in some embodiments to confirm the breadth of the range, in particular embodiments, the setting of such numerical values is as precise as possible.
Claims (11)
1. A teleoperation system for a space robot is characterized by comprising a ground section module, a space section module and a communication module, wherein,
the ground section module comprises a pose acquisition device, wherein the pose acquisition device is used for acquiring operator action information of an operator, and the operator action information at least comprises hand pose data and arm pose data;
the communication module is used for sending the operator action information to the space segment module;
the space segment module includes a satellite platform including a balance wheel device for balancing a moment of the satellite platform and a controller configured to:
mapping manipulator actions and resolving manipulator movement instructions of the manipulator according to the manipulator pose data, mapping manipulator actions and resolving manipulator movement instructions of the manipulator according to the arm pose data, and controlling the balance wheel device to balance the moment of the satellite platform during the manipulator and the manipulator execute the manipulator movement instructions and the manipulator movement instructions respectively so as to maintain angular momentum conservation of the satellite platform;
The step of controlling the balance wheel device to balance the moment of the satellite platform during the manipulator and the manipulator executing the manipulator moving instruction and the manipulator moving instruction respectively by the controller includes:
the mechanical arm moving instruction in the current moving instruction period is calculated;
calculating the three-axis moment change of the whole star caused by the movement of the mechanical arm;
calculating the angular momentum balance required for counteracting the three-axis moment variation of the whole star; and
and controlling the balance wheel device to execute the angular momentum balance.
2. A teleoperational system according to claim 1, wherein the pose acquisition means comprises a finger sensor for acquiring the hand pose data.
3. A teleoperational system according to claim 1, wherein the pose acquisition means comprises an arm motion sensor for acquiring the arm pose data.
4. A teleoperational system according to claim 3, wherein the arm motion sensor comprises any one of a wrist motion sensor for acquiring wrist pose data, a forearm motion sensor for acquiring forearm pose data, and a forearm motion sensor for acquiring forearm pose data.
5. The teleoperation system of claim 4, wherein when the operator performs a non-compound motion with only one of the large arm, the small arm, and the wrist, the controller maps the arm pose data and the arm motion of the arm and the arm movement instructions according to the following mapping relationship:
Wherein delta Roll 、δ Yaw 、δ Pitch Respectively the roll angle, yaw angle and pitch angle phi in the pose data of the large arm Yaw 、φ Pitch Respectively yaw angle and pitch angle epsilon in the forearm pose data Roll Is the roll angle theta in the wrist pose data 1 、θ 2 、θ 3 、θ 4 、θ 5 、θ 6 The mechanical arm comprises six joint angles of the mechanical arm respectively, and the mechanical arm movement instruction comprises the six joint angles.
6. The teleoperation system of claim 4, wherein when the operator performs a compound motion of at least 2 simultaneous motions of the large arm, the small arm, and the wrist, the controller maps the arm pose data and the robot motion of the robot and the robot movement instructions according to the following steps:
rolling angle delta in the pose data of the large arm Roll Yaw angle delta Yaw And pitch delta Pitch Respectively used as a first joint angle theta of the mechanical arm 1 Second joint angle theta 2 Angle of third joint theta 3 ；
Solving for Q 2 ＝Q 1 ·Q 12 Obtaining the roll angle phi 'in the forearm pose data' Roll Yaw angle phi' Yaw Pitch angle phi' Pitch Phi 'is phi' Yaw Fourth joint angle θ as the mechanical arm 4 Phi 'is phi' Pitch A fifth joint angle theta as the mechanical arm 5 Wherein Q is 1 Is the attitude angle matrix measured by the large arm motion sensor, Q 2 Is the attitude angle matrix measured by the forearm motion sensor, Q 12 Is a transformation matrix of the small arm relative to the large arm end coordinate system;
solving for Q 3 ＝Q 2 ·Q 23 Obtaining the roll angle epsilon 'in the wrist pose data' Roll Yaw angle epsilon' Yaw Pitch angle epsilon' Pitch Will epsilon' Roll As the sixth joint angle theta of the mechanical arm 6 Wherein Q is 2 Is the attitude angle matrix measured by the forearm motion sensor, Q 3 Is the attitude angle matrix measured by the wrist motion sensor, Q 23 Is a transformation matrix of the wrist with respect to the forearm end coordinate system.
7. The teleoperation system of claim 1, wherein the pose acquisition device further comprises at least one image acquisition device for acquiring a motion image of the operator, the motion image comprising hand refinement motion information and arm spatial position information of the operator, the operator motion information further comprising the motion image; the controller is further configured to: and adjusting the hand pose data and the arm pose data according to the action image.
8. A teleoperation method of a space robot, comprising:
acquiring hand pose data and arm pose data of an operator;
the hand pose data and the arm pose data are sent to a satellite platform, a manipulator and a mechanical arm are arranged on the satellite platform, and the satellite platform comprises a balance wheel device and a controller; and
the controller maps manipulator actions and resolving manipulator movement instructions of the manipulator according to the manipulator pose data, maps manipulator actions and resolving manipulator movement instructions of the manipulator according to the arm pose data, and controls the balance wheel device to balance the moment of the satellite platform during the manipulator and the manipulator execute the manipulator movement instructions and the manipulator movement instructions respectively so as to maintain conservation of angular momentum of the satellite platform;
wherein the step of controlling the balance wheel device to balance the moment of the satellite platform during the manipulator and the manipulator executing the manipulator moving instruction and the manipulator moving instruction, respectively, includes:
the mechanical arm moving instruction in the current moving instruction period is calculated;
Calculating the three-axis moment change of the whole star caused by the movement of the mechanical arm;
calculating the angular momentum balance required for counteracting the three-axis moment variation of the whole star; and
and controlling the balance wheel device to execute the angular momentum balance.
9. The teleoperation method of claim 8, wherein the arm pose data comprises any of wrist pose data, forearm pose data, and forearm pose data, wherein the wrist pose data is acquired by a wrist motion sensor, the forearm pose data is acquired by a forearm motion sensor, and the forearm pose data is acquired by a forearm motion sensor.
10. The teleoperation method of claim 9, wherein when the operator performs a non-compound motion with only one motion of the large arm, the small arm, and the wrist, the controller maps the arm pose data and the arm motion of the arm and the arm movement command according to the following mapping relationship:
Wherein delta Roll 、δ Yaw 、δ Pitch Respectively the roll angle, yaw angle and pitch angle phi in the pose data of the large arm Yaw 、φ Pitch Respectively yaw angle and pitch angle epsilon in the forearm pose data Roll Is the roll angle theta in the wrist pose data 1 、θ 2 、θ 3 、θ 4 、θ 5 、θ 6 The mechanical arm comprises six joint angles of the mechanical arm respectively, and the mechanical arm movement instruction comprises the six joint angles.
11. The teleoperation method according to claim 9, wherein when the operator performs a composite motion of at least 2 simultaneous motions of the large arm, the small arm, and the wrist, the controller maps the arm pose data and the arm motion of the arm and the arm motion command according to the following steps:
rolling angle delta in the pose data of the large arm Roll Yaw angle delta Yaw And pitch delta Pitch Respectively used as a first joint angle theta of the mechanical arm 1 Second joint angle theta 2 Angle of third joint theta 3 ；
Solving for Q 2 ＝Q 1 ·Q 12 Obtaining the roll angle phi 'in the forearm pose data' Roll Yaw angle phi' Yaw Pitch angle phi' Pitch Phi 'is phi' Yaw Fourth joint angle θ as the mechanical arm 4 Phi 'is phi' Pitch A fifth joint angle theta as the mechanical arm 5 Wherein Q is 1 Is the attitude angle matrix measured by the large arm motion sensor, Q 2 Is the attitude angle matrix measured by the forearm motion sensor, Q 12 Is a transformation matrix of the small arm relative to the large arm end coordinate system;
Solving for Q 3 ＝Q 2 ·Q 23 Obtaining the roll angle epsilon 'in the wrist pose data' Roll Yaw angle epsilon' Yaw Pitch angle epsilon' Pitch Will epsilon' Roll As the sixth joint angle theta of the mechanical arm 6 Wherein Q is 2 Is the attitude angle matrix measured by the forearm motion sensor, Q 3 Is the attitude angle matrix measured by the wrist motion sensor, Q 23 Is a transformation matrix of the wrist with respect to the forearm end coordinate system.
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