空间机器人遥操作地面验证技术研究

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王学谦, 梁斌, 徐文福, 李成. 空间机器人遥操作地面验证技术研究[J]. 机器人, 2009, 31(1): 8-14,19.. WANG Xue-qian, LIANG Bin, XU Wen-fu, LI Cheng. Ground-based Verification Technology for Teleoperation of Space Robot. ROBOT, 2009, 31(1): 8-14,19..

摘要针对空间机器人遥操作任务需求，建立了一套遥操作地面验证了系统．该地面验证子系统由天地通信模拟模块、空间机器人动力学模块、物理验证模块及星载验证模块组成．天地通信模拟模块对天地通信链路的时延和带宽进行模拟，动力学模块根据遥操作命令计算系统的动力学响应，物理验证模块和星载验证模块分别对空间机器人的末端运动、中央控制器的运算能力和执行时序进行验证，实验结果表明了该子系统的有效性．

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	王学谦
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关键词 ：空间机器人, 遥操作, 地面验证, 运动学等效

Abstract：A ground-based verification subsystem is developed to meet the needs of space robot teleoperation,and it is composed of four modules for space/earth communication simulator,space robotic dynamics,physics verification and onboard processor verification.The space/earth communication simulator emulates time delays and bandwidth of the ground- space link,and the dynamics module computes dynamic response of the system to the tele-command.The physics verification and the onboard processor verification modules respectively verify the motion of the end-effector,and the processing ability and the execution schedule of the onboard computer.The experiment results are given to verify the effectiveness of the developed subsystem.

Key words： space robot teleoperation ground-based verification kinematic equivalence

收稿日期: 2008-07-04

:	TP242.6
	V448.132

基金资助:国家自然科学基金资助项目（60805033，60775049）

作者简介: 王学谦（1980- ），男，博士生．研究领域：空间机器人，遥操作和虚拟现实．
梁斌（1986- ）男教授博士生导师研究领域空间机器人，导航制导与控制，自动控制理论．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2009/V31/I1/8

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