Study On Task Control Method Of Space Robot Based On The Somatosensory Equipment

The spatial intelligence technology development is limited and the operation environment of space is complicated and various. The robot needs to be manipulated remotely. Capability of the operator for controlling the robot to carry out the space task through the related equipment in the distance is necessary. Kinect and Leap Motion as new equipment, has been applied in the field of robot control. This non-contact device reduces the work load of the operator and gives more free space for operators. In this paper, the control technology of space robot based on the somatosensory equipment has been proposed.In this paper, we mainly study the technology of joint point information restoration and gesture control technology, in which gesture technology is the main research of the robot control technology. Gesture control technology is the most natural, intuitive and versatile means of human-computer interaction and greatly enhances the operator’s telepresence.First of all, it summarized the research status of motion-sensing technology and human-computer interaction technology about space robot. The space robot was modeled and analyzed, Formulating the standard operating procedure of arms together and how to get the somatosensory data was also analyzed. Secondly, the data were pretreated, including the correction of joint information data and the filtering of skeletal data, which makes the real-time control more stable. At the same time, in order to use gesture command to control the space robot, the somatosensory data for modeling gesture was used, and static gesture library and dynamic library were set up respectively. Finally, taking a space robot as an example, the effectiveness and practicability of the control technology were verified by the somatosensory interaction technology which was recommended in this paper from the aspects of joint angle mapping, and end pose control.