Human-in-loop Based Space Teleoperation-oriented Research On The Operator's Behavior Sensing And Representation Technology

On-orbit tasks which constantly get more and more difficult and extra- vehicular activity with longer time make the astronauts suffer with great risks when conducting on-orbit service. However, at present, complete autonomous space robot can hardly finish the on-orbit tasks facing an unknown environment, the human- in- loop based space teleoperation is gradually becoming an important way to conduct the on-orbit service, which can lead the motion of the robotic arm based on the behavior of the operator by adding the human brainpower into the controlling loop, and complete the task by a man-machine combination way.This paper focuses on the operating behavior sensing, the mapping mechanics and human behavior representation. The specific research contents are as follows:1?In the first part, the paper makes a review and summary of the related researches on space telerobotics and motion tracking at home and aboard;2?In the second part, the paper completes the design of the experimental system, including the hardware system and the software system and the design process;3?In the third part, the paper finishes the kinematics modeling of a human arm. According to the characteristics of the human arm configuration, the mechanical model of the human arm is firstly built based on the analysis of the joint types and degrees of freedom, and secondly, the chapter builds the kinematics model of the arm based on the transformation of the joint local reference coordinate systems;4?The forth chapter focuses on the behavior sensing and recognition of the human arm, as well as the mapping mechanics between the motion manner of the robotic arm and the human arm. Firstly, the measuring model based on the electromagnetic tracking system is built, and secondly, the chapter designs two kinds of behavior recognition methods: one is based on the position information of sensor and the other is based on attitude information. Thirdly, after analyzing the different configuration of the experimental robotic arm and the arm of the operator, the chapter comes up with two kinds of mapping mechanics: one is based on the equal increment of the terminal; the other is the ratable mapping method based on the space coordinate. The simulation results show that the joint angle of the mechanical arm changes smoothly during the operation process and singular points do not occur, verifying the effectiveness of the processing method.5?The fifth chapter studies the representation of the human behavior. Firstly, the kinematics model of the experimental robotic arm is built using the D-H modeling method. And secondly, the paper presents an optimization method based on joint minimization to solve the multi-solution problem in the inverse kinematics, and deals with the singularity of the mechanical arm by using the method of setting threshold in the process of operation. Finally, the chapter throws light upon the whole process of the human behavior representation.6?the last chapter fishes the related experiments. Including the precision test of the sensors of the electromagnetic tracking device, the validation of the correctness of the kinematics model of the robotic arm, the test of the effectiveness of behavior mapping mechanism. Finally, demonstrated experiment on the robotic arm grasping the target based on the human behavior is conducted, which successfully completes the grasping task.