The Ground-based Validation Technology of Teleoperation for Space Robot

摘要

This paper addresses a ground-based validation subsystem which verifies the functions and performance of the teleoperation system for space robot. The subsystem is comprised of three modules: the physics verification module, the onboard verification module and the communication simulator module. In the physics verification module, a hybrid experiment concept which combines the mathematical model with the physical model is used. The key issues of the physics verification module are dynamic emulation and kinematic equivalence, in which the behaviors of the space robotic system are calculated by its dynamic equations. The motion of its end-effector and the space target is realized by two industrial robots. The concept of hardware-in-the-loop simulation is used in the onboard verification module to verify the onboard computer's processing ability. The communication simulator can provide fidelity communication conditions which consist of time delays and communication bandwidth. Lastly, a teleoperation system is set up, and many experiments have been done on the system. The experiments verified the effectiveness of the work in the paper.