Space Manipulator In-Orbit Assembly Simulation System Based On Force Feedback

Space field is increasingly concerned by all countries, but space debris is a problem to be solved, which threatens the safety of orbiting astronauts and space robots. n this paper, we develop the simulation system of on-orbit robot based on force feedback, and simulate and simulate the space environment and realize the task of space rail assembly and maintenance tasks. It involves force feedback, virtual reality, space robot simulation, force rendering and Virtual fixture and other aspects of the study. Based on the research results of domestic and foreign scholars,this paper has carried on the efficiency and function improvement of the force rendering technology and the virtual fixture technology through the virtual simulation system of on-orbit robot based on force feedback.Specifically, this article mainly completed a bit of specific work:Firstly, a virtual assembly simulation system with on-line virtual assembly is built. The system combines the force feedback device to interact with the virtual scene. The operator controls the robot arm in the space virtual scene through the force feedback device, and sends the robot arm to the force feedback device in real time to realize the force interaction of the man-machine The The system consists of a force feedback module, a robotic arm simulation module, and a display module,and combines the Oculus glasses to observe the scene to increase the effect of immersion and virtual reality.Secondly, the key techniques of VPS force rendering algorithm are studied and verified experimentally. In this paper, we propose a new method of obtaining the point shell model and the voxel model based on the ray detection technology, and then use the VPS-based hierarchical traversal Force rendering algorithm applied to the system, to further improve the rendering efficiency.Then, based on the traditional virtual fixture method, the concept of adaptive virtual fixture is proposed and verified. Realizes the optimal key point in real time to construct the virtual pipeline with short path, realizes the function of dynamic virtual fixture, and finally realizes the virtual fixture model with low complexity and versatility.Finally, the verification experiment of virtual assembly simulation system of on-orbit robot is completed. This paper studies the force rendering method and the adaptive virtual fixture technology applied in this system, and through the analysis of the relevant simulation and experimental results, this paper validates the efficiency of VPS-based force-rendering technology and adaptive virtual fixture technology.