基于虚拟现实与局部自主的空间机器人遥操作技术研究
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摘要
利用空间机器人代替宇航员进行太空作业,不仅可以使宇航员避免在恶劣太空环境中作业时可能受到的伤害,还可以降低成本、提高空间探索活动的效率。由于空间工作环境非结构化及工作任务多变的特点,同时受计算机、控制、人工智能和机构等关键支撑技术发展水平的制约,目前研制出在空间环境下完全自主工作的机器人还很难实现。因此,切实可行的方法是充分利用人的智能进行高层任务规划,采用地面遥操作空间机器人的方式完成空间作业。本文针对卫星在轨维护任务,建立了卫星自维护的地面遥操作演示平台,对基于虚拟现实和局部自主的空间机器人遥操作进行了研究。
本文建立了一套卫星在轨自维护的地面遥操作演示系统。利用人为增加时延的方法,位于武汉的操作者通过Internet遥操作位于哈尔滨的机器人完成卫星维护任务,模拟了地面遥操作空间机器人的大时延情况,并利用虚拟现实技术实现了三维图形预测显示,有效地克服了大时延对遥操作的影响。利用反馈的机器人实际位置和视觉识别操作对象结果,在虚拟环境下重新构建了虚拟的实际机器人和操作对象场景,有效地克服了低带宽对流畅视频传输的限制,使操作者直观形象地感知远端实际状态。
在遥操作的主操作端,遥操作的操作安全性与操作性能之间是互斥的。手动操作的操作性能差但处理异常能力(安全性)强,离线任务规划的操作性能好但处理异常能力差。本文提出了在主端利用柔性虚拟夹具方法辅助遥操作,通过柔性系数调节机器人倾向于理想运动方向的程度,有效地将离线任务规划与操作者手动控制结合起来,在遥操作的安全性与操作性能之间进行折衷,保证了遥操作的操作精度与异常处理能力。并在此基础上,将虚拟力反馈、颜色识别及虚拟厚度方法融合到柔性虚拟夹具中,进一步提高了操作性能。
在遥操作的从机器人端,实现了基于关节位置、关节力矩、腕力传感器和视觉的多传感器机器人局部自主功能,提高了机器人的智能水平。在自由运动阶段,采用基于视觉的机器人最优接近速度控制。在约束运动阶段,针对空间机器人经常与高刚度环境接触情况,基于力外环思想,本文提出了基于阻抗内环的力跟踪方法,对比实验证明该方法保证了机器人与高刚度环境接触时较好的力控制性能。
基于虚拟现实遥操作的前提是虚拟模型与实际场景的一致性。然而,受空间环境变化及传感器测量误差等影响,虚拟模型与实际场景之间存在着不可避免的模型误差。本文将模型修正法与机器人的控制方法结合起来,一方面在遥操作主端利用反馈的机器人实际位置和视觉识别结果分别对虚拟机器人和虚拟操作对象的位姿进行修正,尽可能地减小虚拟模型与实际场景的差别;另一方面,对于仍残存的模型误差,在从机器人端采用对模型误差具有一定的鲁棒性的阻抗控制、混合阻抗控制方法,进一步消除残存的模型误差。实验证明了该方法能够消除模型误差对遥操作的影响。
在本文的最后,对于结构化空间环境,采用基于虚拟现实的遥操作方式克服了约14秒的大通讯时延对遥操作的影响,顺利地完成了打开卫星天线的卫星维护任务。对于存在误差的非结构化空间环境,分别进行了打开卫星太阳能帆板和擦拭卫星镜头的两个典型卫星维护遥操作实验,克服了模型误差对遥操作的影响,验证了本文提出的空间机器人遥操作方法的正确性和有效性。
Space robots are utilized to complete space tasks instead of astronauts, which will not only avoid potential injury of astronauts while carrying out space tasks, but also decrease the cost and improve the efficiency of space exploration activities. Space robots usually works in an changeable workspace, and due to the limit of computer, control, artificial intelligence and mechanism technology, it is difficult to develop an autonomous space robot which could work automatically in the space environment. Therefore, the feasible way to control the space robot is ground teleoperation, which uses the human intelligence to achieve the high task planning. In this dissertation, the ground demonstration platform of satellite self-serving teleoperation is built, and virtual reality and local autonomy based space robot teleoperation is investigated.
The ground teleoperation demonstration system of satellite on-orbit self-serving is established in this dissertation. In order to simulate the large time delay of space teleoperation, the artificial time delay is added and the operator(in Wuhan, China) teleoperates the space robot(in Harbin, China) to complete the satelliate serving tasks through Internet. The three-dimensional graphic predictive display is realized by virtual reality and the influernce of large time delay to teleoperation is conquered. Furthermore, according to the limit communication bandwidth, a virtual model of the actual environment is created at the operator side by the feedback robot joint angles and target visual recognition result, which overcomes the lack of smooth video due to the limit bandwidth, and the operator can obtain the remote status intuitively.
At the master side, the manipulative safety and performance are mutually exclusive. Freehand control can achieve low precision and good abnormity handling ability, and the off-line task planning can obtain good precision and worse abnormity handling ability. In this paper an flexible virtual fixture is proposed to assist teleoperation at the operator side. It utilizes a flexible coefficient to regulate the prefered degree for robot movement, then combines freehand control and off-line task planning effectively, and makes a tradeoff between the manipulative safety and performance. Furthermore, the virtual force feedback, color recognition and virtual thickness are added to the flexible virtual fixture to enhance the manipulative performance.
At the slave robot side, the robot intelligence is improved by local autonomy based on multi-sensors, which includes the robot joint position sensors, joint torque sensors, wrist force/torque sensor and vision sensor. During free space operation, the robot is control though the optimal approaching velocity based on vision. While during constraint space operation, according to the usual high stiffness contact tasks, a force tracking method based on the explicit control strategy is proposed in this thesis, which uses the impedance controller instead of the conventional position controller as the inner loop. The comparative experimental results show better force tracking performance according to the conventional method.
The virtual reality based teleoperation seriously relies on the consistency of virtual model and real scene. However, because of the varying space environment and error of sensors measuring, there is inevitable model errors between the virtual model and real scene. In this thesis the method of model calibration and slave robot control with robustness against model errors are combined together to eliminate these errors. On one hand, at the operator side the virtual robot is correted through feedback robot joint angles, and virtual manipulative object is correted through vision, which eliminates the model errors at the largest degree. On the other hand, according to the small remaining model errors, at the remote slave robot side the impedance control and hybrid impedance control are used to eliminate the model errors further.
At the last part of this dissertation, according to the structure space environment, the virtual reality is used to overcome the large communication time delay(bout 14 seconds)influence, and the deploying the antenna teleoperation experiment is accomplished successfully. According to the space environment with model errors, two representative satelliate self-serving teleoperation experimnets of deploying solar panel and rubbing camera lens are carried out, which overcomes the influence of model errors during teleoperation. The experimental results show the validity of the proposed space robot teleoperation method.
本文建立了一套卫星在轨自维护的地面遥操作演示系统。利用人为增加时延的方法,位于武汉的操作者通过Internet遥操作位于哈尔滨的机器人完成卫星维护任务,模拟了地面遥操作空间机器人的大时延情况,并利用虚拟现实技术实现了三维图形预测显示,有效地克服了大时延对遥操作的影响。利用反馈的机器人实际位置和视觉识别操作对象结果,在虚拟环境下重新构建了虚拟的实际机器人和操作对象场景,有效地克服了低带宽对流畅视频传输的限制,使操作者直观形象地感知远端实际状态。
在遥操作的主操作端,遥操作的操作安全性与操作性能之间是互斥的。手动操作的操作性能差但处理异常能力(安全性)强,离线任务规划的操作性能好但处理异常能力差。本文提出了在主端利用柔性虚拟夹具方法辅助遥操作,通过柔性系数调节机器人倾向于理想运动方向的程度,有效地将离线任务规划与操作者手动控制结合起来,在遥操作的安全性与操作性能之间进行折衷,保证了遥操作的操作精度与异常处理能力。并在此基础上,将虚拟力反馈、颜色识别及虚拟厚度方法融合到柔性虚拟夹具中,进一步提高了操作性能。
在遥操作的从机器人端,实现了基于关节位置、关节力矩、腕力传感器和视觉的多传感器机器人局部自主功能,提高了机器人的智能水平。在自由运动阶段,采用基于视觉的机器人最优接近速度控制。在约束运动阶段,针对空间机器人经常与高刚度环境接触情况,基于力外环思想,本文提出了基于阻抗内环的力跟踪方法,对比实验证明该方法保证了机器人与高刚度环境接触时较好的力控制性能。
基于虚拟现实遥操作的前提是虚拟模型与实际场景的一致性。然而,受空间环境变化及传感器测量误差等影响,虚拟模型与实际场景之间存在着不可避免的模型误差。本文将模型修正法与机器人的控制方法结合起来,一方面在遥操作主端利用反馈的机器人实际位置和视觉识别结果分别对虚拟机器人和虚拟操作对象的位姿进行修正,尽可能地减小虚拟模型与实际场景的差别;另一方面,对于仍残存的模型误差,在从机器人端采用对模型误差具有一定的鲁棒性的阻抗控制、混合阻抗控制方法,进一步消除残存的模型误差。实验证明了该方法能够消除模型误差对遥操作的影响。
在本文的最后,对于结构化空间环境,采用基于虚拟现实的遥操作方式克服了约14秒的大通讯时延对遥操作的影响,顺利地完成了打开卫星天线的卫星维护任务。对于存在误差的非结构化空间环境,分别进行了打开卫星太阳能帆板和擦拭卫星镜头的两个典型卫星维护遥操作实验,克服了模型误差对遥操作的影响,验证了本文提出的空间机器人遥操作方法的正确性和有效性。
Space robots are utilized to complete space tasks instead of astronauts, which will not only avoid potential injury of astronauts while carrying out space tasks, but also decrease the cost and improve the efficiency of space exploration activities. Space robots usually works in an changeable workspace, and due to the limit of computer, control, artificial intelligence and mechanism technology, it is difficult to develop an autonomous space robot which could work automatically in the space environment. Therefore, the feasible way to control the space robot is ground teleoperation, which uses the human intelligence to achieve the high task planning. In this dissertation, the ground demonstration platform of satellite self-serving teleoperation is built, and virtual reality and local autonomy based space robot teleoperation is investigated.
The ground teleoperation demonstration system of satellite on-orbit self-serving is established in this dissertation. In order to simulate the large time delay of space teleoperation, the artificial time delay is added and the operator(in Wuhan, China) teleoperates the space robot(in Harbin, China) to complete the satelliate serving tasks through Internet. The three-dimensional graphic predictive display is realized by virtual reality and the influernce of large time delay to teleoperation is conquered. Furthermore, according to the limit communication bandwidth, a virtual model of the actual environment is created at the operator side by the feedback robot joint angles and target visual recognition result, which overcomes the lack of smooth video due to the limit bandwidth, and the operator can obtain the remote status intuitively.
At the master side, the manipulative safety and performance are mutually exclusive. Freehand control can achieve low precision and good abnormity handling ability, and the off-line task planning can obtain good precision and worse abnormity handling ability. In this paper an flexible virtual fixture is proposed to assist teleoperation at the operator side. It utilizes a flexible coefficient to regulate the prefered degree for robot movement, then combines freehand control and off-line task planning effectively, and makes a tradeoff between the manipulative safety and performance. Furthermore, the virtual force feedback, color recognition and virtual thickness are added to the flexible virtual fixture to enhance the manipulative performance.
At the slave robot side, the robot intelligence is improved by local autonomy based on multi-sensors, which includes the robot joint position sensors, joint torque sensors, wrist force/torque sensor and vision sensor. During free space operation, the robot is control though the optimal approaching velocity based on vision. While during constraint space operation, according to the usual high stiffness contact tasks, a force tracking method based on the explicit control strategy is proposed in this thesis, which uses the impedance controller instead of the conventional position controller as the inner loop. The comparative experimental results show better force tracking performance according to the conventional method.
The virtual reality based teleoperation seriously relies on the consistency of virtual model and real scene. However, because of the varying space environment and error of sensors measuring, there is inevitable model errors between the virtual model and real scene. In this thesis the method of model calibration and slave robot control with robustness against model errors are combined together to eliminate these errors. On one hand, at the operator side the virtual robot is correted through feedback robot joint angles, and virtual manipulative object is correted through vision, which eliminates the model errors at the largest degree. On the other hand, according to the small remaining model errors, at the remote slave robot side the impedance control and hybrid impedance control are used to eliminate the model errors further.
At the last part of this dissertation, according to the structure space environment, the virtual reality is used to overcome the large communication time delay(bout 14 seconds)influence, and the deploying the antenna teleoperation experiment is accomplished successfully. According to the space environment with model errors, two representative satelliate self-serving teleoperation experimnets of deploying solar panel and rubbing camera lens are carried out, which overcomes the influence of model errors during teleoperation. The experimental results show the validity of the proposed space robot teleoperation method.
引文
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80 R. Taylor, P. Jensen, and etc.. Steady-hand Robotic System for Microsurgical Augmentation. International Journal of Robotics Research, 1999, 18(12): 1201~1210.
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86 R. O. Ambrose, R. T. Savely and etc.. Mobile Manipulation using NASA’s Robonaut. Proceedings of IEEE International Conference on Robotics and Automation. New Orleans, United States, 2004: 2104~2109.
87 P. K. Cheng and Y. K. Young. VR-Based Teleoperation for Robot Compliance Control. Journal of Intelligent and Robotic Systems. 2001, 30(4): 377~398.
88张宗美.航天故障手册.宇航出版社. 1994: 10~35.
89 D. A. Lawrence. Stability and Transparency in Bilateral Teleoperation. IEEE Transactions on Robotics and Automation. 1993, 9(5): 624~637
90王文涛.基于虚拟手的人机交互技术研究.华中科技大学硕士论文. 2005: 39~40.
91胡海鹰. HIT/DLR机器人灵巧手遥操作系统的研究.哈尔滨工业大学博士论文. 2006: 19~38.
92彭刚,黄心汉等.网络延时和负荷变化对基于网络的遥操作机器人系统的影响和解决方法.计算机工程与应用, 2002, 12~16.
93 C. Preusche and G. Hirzinger. Haptics in Telerobotics-Current and Future Research and Applications. Visual Computation. 2007, 23(1): 273~284.
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