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航空学报  2013 

速度型虚拟夹具辅助空间遥操作技术研究

DOI: 10.7527/S1000-6893.2013.0240, PP. 1436-1444

Keywords: 空间应用,速度型虚拟夹具,碰撞检测,动态预测,遥操作

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Abstract:

天地间通讯存在大时延是影响空间遥操作性能的主要问题。传统虚拟夹具应用于空间遥操作中,已获得一定的操作性能提升,但不具备动态的预测能力,对于克服时延带来的操作错觉等能力的提升有很大限制。本文提出一种速度型虚拟夹具作用于操作末端,利用操作末端的速度信息,实时改变虚拟夹具的形状,对操作末端在3s时延后的运动进行动态预测。利用方向包围盒(OBB)方法进行图形碰撞检测,能在3s内检测到即将到来的碰撞,按照一定规则产生相应的阻力反馈给操作者,以克服时延引起的误操作,提高遥操作性能。经过多组目标平台的近距离停靠实验,验证了该方法的有效性。

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